Merge pull request #941 from FIRST-Tech-Challenge/20240215-115542-release-candidate

FtcRobotController v9.1

.github/CONTRIBUTING.md

@@ -18,7 +18,7 @@ If what you've read so far makes little sense, there are some very good git lear
 [Git Book](https://git-scm.com/book/en/v2)  
 [Interactive Git Tutorial](https://try.github.io)
 
-##### Guidlines for experienced GIT users.
+### Guidlines for experienced GIT users.
 
 If you are absolutely certain that you want to push the big green button above, read on.  Otherwise back _slowly away from keyboard_.
 
@@ -38,9 +38,9 @@ This section guides you through filing a bug report.  The better the report the
 
 #### Before submitting a bug report
 
-- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
+- Check the [forums](http://ftcforum.firstinspires.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
 
-- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported.  If so, add a comment to the existing issue instead of creating a new one.
+- Perform a search of current [issues](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues) to see if the problem has already been reported.  If so, add a comment to the existing issue instead of creating a new one.
 
 #### How Do I Submit A (Good) Bug Report?
 
@@ -65,4 +65,4 @@ FIRST volunteers are awesome.  You all have great ideas and we want to hear them
 
 Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities.
 
-The best way to get momentum behind new features is to post a description of your idea in the forums.  Build community support for it.  The FTC Technology Team monitors the forums.  We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.
+The best way to get momentum behind new features is to post a description of your idea in the discussions section of this repository.  Build community support for it.  The FTC Technology Team monitors the discussions.  We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.

.gitignore

@@ -9,8 +9,9 @@
 # Files for the ART/Dalvik VM
 *.dex
 
-# Java class files
+# Java/JDK files
 *.class
+*.hprof
 
 # Generated files
 bin/
@@ -40,17 +41,10 @@ captures/
 
 # IntelliJ
 *.iml
-.idea/workspace.xml
-.idea/tasks.xml
-.idea/gradle.xml
-.idea/assetWizardSettings.xml
-.idea/dictionaries
-.idea/libraries
-# Android Studio 3 in .gitignore file.
-.idea/caches
-.idea/modules.xml
-# Comment next line if keeping position of elements in Navigation Editor is relevant for you
-.idea/navEditor.xml
+.idea/
+
+# For Mac users
+.DS_Store
 
 # Keystore files
 # Uncomment the following lines if you do not want to check your keystore files in.
@@ -84,4 +78,4 @@ lint/intermediates/
 lint/generated/
 lint/outputs/
 lint/tmp/
-# lint/reports/
+# lint/reports/

FtcRobotController/build.gradle

@@ -8,25 +8,19 @@ apply plugin: 'com.android.library'
 android {
 
     defaultConfig {
-        minSdkVersion 23
+        minSdkVersion 24
+        //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
-        buildConfigField "String", "BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
+        buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
     }
 
-    compileSdkVersion 28
+    compileSdkVersion 29
 
     compileOptions {
-        sourceCompatibility JavaVersion.VERSION_1_7
-        targetCompatibility JavaVersion.VERSION_1_7
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
     }
+    namespace = 'com.qualcomm.ftcrobotcontroller'
 }
 
-repositories {
-    maven { url = "https://dl.bintray.com/first-tech-challenge/ftcsdk/" }
-
-    flatDir {
-        dirs '../libs'
-    }
-}
-
-apply from: 'build.release.gradle'
+apply from: '../build.dependencies.gradle'

FtcRobotController/build.release.gradle

@@ -1,10 +0,0 @@
-dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:6.0.1'
-    implementation 'org.firstinspires.ftc:Blocks:6.0.1'
-    implementation 'org.firstinspires.ftc:RobotCore:6.0.1'
-    implementation 'org.firstinspires.ftc:RobotServer:6.0.1'
-    implementation 'org.firstinspires.ftc:OnBotJava:6.0.1'
-    implementation 'org.firstinspires.ftc:Hardware:6.0.1'
-    implementation 'org.firstinspires.ftc:FtcCommon:6.0.1'
-    implementation 'androidx.appcompat:appcompat:1.2.0'
-}

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,19 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-          package="com.qualcomm.ftcrobotcontroller"
-          android:versionCode="38"
-          android:versionName="6.0">
+    android:versionCode="53"
+          android:versionName="9.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 
   <application
     android:allowBackup="true"
     android:largeHeap="true"
-    android:extractNativeLibs="true"
     android:icon="@drawable/ic_launcher"
     android:label="@string/app_name"
-    android:theme="@style/AppThemeRedRC" >
+    android:theme="@style/AppThemeRedRC"
+    android:usesCleartextTraffic="true">
 
     <!-- Indicates to the ControlHubUpdater what the latest version of the Control Hub is that this app supports -->
     <meta-data
@@ -60,6 +59,21 @@
       android:name="com.qualcomm.ftccommon.FtcRobotControllerService"
       android:enabled="true" />
 
+
+    <!-- Assistant that autostarts the robot controller on android boot (if it's supposed to) -->
+    <receiver
+      android:enabled="true"
+      android:exported="true"
+      android:name="org.firstinspires.ftc.ftccommon.internal.RunOnBoot"
+      android:permission="android.permission.RECEIVE_BOOT_COMPLETED">
+
+      <intent-filter>
+        <category android:name="android.intent.category.DEFAULT" />
+        <action android:name="android.intent.action.BOOT_COMPLETED" />
+        <action android:name="android.intent.action.QUICKBOOT_POWERON" />
+      </intent-filter>
+    </receiver>
+
   </application>
 
 </manifest>

FtcRobotController/src/main/assets/FTC_2016-17.xml

@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
-  <Tracking>
-    <ImageTarget name="Wheels" size="254.000000 184.154922" />
-    <ImageTarget name="Tools" size="254.000000 184.154922" />
-    <ImageTarget name="Legos" size="254.000000 184.154922" />
-    <ImageTarget name="Gears" size="254.000000 184.154922" />
-  </Tracking>
-</QCARConfig>

FtcRobotController/src/main/assets/RelicVuMark.xml

@@ -1,6 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<QCARConfig>
-    <Tracking>
-        <VuMark name="RelicRecovery" size="304.80000376701355 223.630235354" />
-    </Tracking>
-</QCARConfig>

FtcRobotController/src/main/assets/StonesAndChips.xml

@@ -1,7 +0,0 @@
-<?xml version="1.0"?>
-<QCARConfig xsi:noNamespaceSchemaLocation="qcar_config.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-    <Tracking>
-        <ImageTarget name="stones" size="247 173"/>
-        <ImageTarget name="chips" size="247 173"/>
-    </Tracking>
-</QCARConfig>

FtcRobotController/src/main/assets/UltimateGoal.xml

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
-  <Tracking>
-    <ImageTarget name="BlueTowerGoal" size="257.299988 171.533325" />
-    <ImageTarget name="RedTowerGoal" size="257.299988 171.533325" />
-    <ImageTarget name="RedAlliance" size="242.600006 171.430405" />
-    <ImageTarget name="BlueAlliance" size="252.500000 171.466522" />
-    <ImageTarget name="FrontWall" size="177.800003 177.800003" />
-  </Tracking>
-</QCARConfig>

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

@@ -0,0 +1,167 @@
+/* Copyright (c) 2021 FIRST. 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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/*
+ * This file contains an example of a Linear "OpMode".
+ * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
+ * The names of OpModes appear on the menu of the FTC Driver Station.
+ * When a selection is made from the menu, the corresponding OpMode is executed.
+ *
+ * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
+ * This code will work with either a Mecanum-Drive or an X-Drive train.
+ * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
+ * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
+ *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
+ * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
+ * Each motion axis is controlled by one Joystick axis.
+ *
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
+ * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
+ * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
+ *
+ * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
+ * the direction of all 4 motors (see code below).
+ *
+ * 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="Basic: Omni Linear OpMode", group="Linear OpMode")
+@Disabled
+public class BasicOmniOpMode_Linear extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftFrontDrive = null;
+    private DcMotor leftBackDrive = null;
+    private DcMotor rightFrontDrive = null;
+    private DcMotor rightBackDrive = null;
+
+    @Override
+    public void runOpMode() {
+
+        // Initialize the hardware variables. Note that the strings used here must correspond
+        // to the names assigned during the robot configuration step on the DS or RC devices.
+        leftFrontDrive  = hardwareMap.get(DcMotor.class, "left_front_drive");
+        leftBackDrive  = hardwareMap.get(DcMotor.class, "left_back_drive");
+        rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
+        rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
+
+        // ########################################################################################
+        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
+        // ########################################################################################
+        // Most robots need the motors on one side to be reversed to drive forward.
+        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
+        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
+        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
+        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
+        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
+        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
+        leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
+        leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
+        rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // Wait for the game to start (driver presses PLAY)
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            double max;
+
+            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
+            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+            double lateral =  gamepad1.left_stick_x;
+            double yaw     =  gamepad1.right_stick_x;
+
+            // Combine the joystick requests for each axis-motion to determine each wheel's power.
+            // Set up a variable for each drive wheel to save the power level for telemetry.
+            double leftFrontPower  = axial + lateral + yaw;
+            double rightFrontPower = axial - lateral - yaw;
+            double leftBackPower   = axial - lateral + yaw;
+            double rightBackPower  = axial + lateral - yaw;
+
+            // Normalize the values so no wheel power exceeds 100%
+            // This ensures that the robot maintains the desired motion.
+            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+            max = Math.max(max, Math.abs(leftBackPower));
+            max = Math.max(max, Math.abs(rightBackPower));
+
+            if (max > 1.0) {
+                leftFrontPower  /= max;
+                rightFrontPower /= max;
+                leftBackPower   /= max;
+                rightBackPower  /= max;
+            }
+
+            // This is test code:
+            //
+            // Uncomment the following code to test your motor directions.
+            // Each button should make the corresponding motor run FORWARD.
+            //   1) First get all the motors to take to correct positions on the robot
+            //      by adjusting your Robot Configuration if necessary.
+            //   2) Then make sure they run in the correct direction by modifying the
+            //      the setDirection() calls above.
+            // Once the correct motors move in the correct direction re-comment this code.
+
+            /*
+            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            */
+
+            // Send calculated power to wheels
+            leftFrontDrive.setPower(leftFrontPower);
+            rightFrontDrive.setPower(rightFrontPower);
+            leftBackDrive.setPower(leftBackPower);
+            rightBackDrive.setPower(rightBackPower);
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+            telemetry.update();
+        }
+    }}

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

@@ -36,21 +36,21 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
-/**
+/*
  * This file contains an example of an iterative (Non-Linear) "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
  * The names of OpModes appear on the menu of the FTC Driver Station.
- * When an selection is made from the menu, the corresponding OpMode
+ * When a selection is made from the menu, the corresponding OpMode
  * class is instantiated on the Robot Controller and executed.
  *
  * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
  * It includes all the skeletal structure that all iterative OpModes contain.
  *
- * Use Android Studios 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
+ * 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="Basic: Iterative OpMode", group="Iterative Opmode")
+@TeleOp(name="Basic: Iterative OpMode", group="Iterative OpMode")
 @Disabled
 public class BasicOpMode_Iterative extends OpMode
 {
@@ -72,10 +72,11 @@ public class BasicOpMode_Iterative extends OpMode
         leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
 
-        // Most robots need the motor on one side to be reversed to drive forward
-        // Reverse the motor that runs backwards when connected directly to the battery
-        leftDrive.setDirection(DcMotor.Direction.FORWARD);
-        rightDrive.setDirection(DcMotor.Direction.REVERSE);
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // Tell the driver that initialization is complete.
         telemetry.addData("Status", "Initialized");

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

@@ -29,28 +29,28 @@
 
 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 com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
 
-/**
+/*
  * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
  * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
- * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
+ * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
  * class is instantiated on the Robot Controller and executed.
  *
  * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
  * It includes all the skeletal structure that all linear OpModes contain.
  *
- * Use Android Studios 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
+ * 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="Basic: Linear OpMode", group="Linear Opmode")
+@TeleOp(name="Basic: Linear OpMode", group="Linear OpMode")
 @Disabled
 public class BasicOpMode_Linear extends LinearOpMode {
 
@@ -70,10 +70,11 @@ public class BasicOpMode_Linear extends LinearOpMode {
         leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
 
-        // Most robots need the motor on one side to be reversed to drive forward
-        // Reverse the motor that runs backwards when connected directly to the battery
-        leftDrive.setDirection(DcMotor.Direction.FORWARD);
-        rightDrive.setDirection(DcMotor.Direction.REVERSE);
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // Wait for the game to start (driver presses PLAY)
         waitForStart();

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

@@ -0,0 +1,217 @@
+/* Copyright (c) 2023 FIRST. 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 android.util.Size;
+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.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 recognition and pose estimation,
+ * including Java Builder structures for specifying Vision parameters.
+ *
+ * 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 have their position and orientation information displayed.  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 tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
+ * There are many "default" VisionPortal and AprilTag configuration parameters that may be overridden if desired.
+ * These default parameters are shown as comments in the code below.
+ *
+ * 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", group = "Concept")
+@Disabled
+public class ConceptAprilTag extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * 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 Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            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)
+
+            // == 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.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } 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)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class

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

@@ -0,0 +1,163 @@
+/* Copyright (c) 2023 FIRST. 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.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 recognition and pose estimation, using
+ * the easy way.
+ *
+ * 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 have their position and orientation information displayed.  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 tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
+ * 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 Easy", group = "Concept")
+@Disabled
+public class ConceptAprilTagEasy extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * 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 Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            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 the easy way.
+        aprilTag = AprilTagProcessor.easyCreateWithDefaults();
+
+        // Create the vision portal the easy way.
+        if (USE_WEBCAM) {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
+        } else {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                BuiltinCameraDirection.BACK, aprilTag);
+        }
+
+    }   // 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.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } 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)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class

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

@@ -0,0 +1,246 @@
+/* Copyright (c) 2023 FIRST. 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 com.qualcomm.robotcore.util.Range;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+/*
+ * This OpMode determines the best Exposure for minimizing image motion-blur on a Webcam
+ * Note that it is not possible to control the exposure for a Phone Camera, so if you are using a Phone for the Robot Controller
+ * this OpMode/Feature only applies to an externally connected Webcam
+ *
+ * The goal is to determine the smallest (shortest) Exposure value that still provides reliable Tag Detection.
+ * Starting with the minimum Exposure and maximum Gain, the exposure is slowly increased until the Tag is
+ * detected reliably from the likely operational distance.
+ *
+ *
+ * The best way to run this optimization is to view the camera preview screen while changing the exposure and gains.
+ *
+ * To do this, you need to view the RobotController screen directly (not from Driver Station)
+ * This can be done directly from a RC phone screen (if you are using an external Webcam), but for a Control Hub you must either plug an
+ * HDMI monitor into the Control Hub HDMI port, or use an external viewer program like ScrCpy (https://scrcpy.org/)
+ *
+ * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ */
+
+@TeleOp(name="Optimize AprilTag Exposure", group = "Concept")
+@Disabled
+public class ConceptAprilTagOptimizeExposure extends LinearOpMode
+{
+    private VisionPortal visionPortal = null;        // Used to manage the video source.
+    private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
+    private int     myExposure  ;
+    private int     minExposure ;
+    private int     maxExposure ;
+    private int     myGain      ;
+    private int     minGain ;
+    private int     maxGain ;
+
+    boolean thisExpUp = false;
+    boolean thisExpDn = false;
+    boolean thisGainUp = false;
+    boolean thisGainDn = false;
+
+    boolean lastExpUp = false;
+    boolean lastExpDn = false;
+    boolean lastGainUp = false;
+    boolean lastGainDn = false;
+    @Override public void runOpMode()
+    {
+        // Initialize the Apriltag Detection process
+        initAprilTag();
+
+        // Establish Min and Max Gains and Exposure.  Then set a low exposure with high gain
+        getCameraSetting();
+        myExposure = Math.min(5, minExposure);
+        myGain = maxGain;
+        setManualExposure(myExposure, myGain);
+
+        // Wait for the match to begin.
+        telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive())
+        {
+            telemetry.addLine("Find lowest Exposure that gives reliable detection.");
+            telemetry.addLine("Use Left bump/trig to adjust Exposure.");
+            telemetry.addLine("Use Right bump/trig to adjust Gain.\n");
+
+            // Display how many Tags Detected
+            List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+            int numTags = currentDetections.size();
+            if (numTags > 0 )
+                telemetry.addData("Tag", "####### %d Detected  ######", currentDetections.size());
+            else
+                telemetry.addData("Tag", "----------- none - ----------");
+
+            telemetry.addData("Exposure","%d  (%d - %d)", myExposure, minExposure, maxExposure);
+            telemetry.addData("Gain","%d  (%d - %d)", myGain, minGain, maxGain);
+            telemetry.update();
+
+            // check to see if we need to change exposure or gain.
+            thisExpUp = gamepad1.left_bumper;
+            thisExpDn = gamepad1.left_trigger > 0.25;
+            thisGainUp = gamepad1.right_bumper;
+            thisGainDn = gamepad1.right_trigger > 0.25;
+
+            // look for clicks to change exposure
+            if (thisExpUp && !lastExpUp) {
+                myExposure = Range.clip(myExposure + 1, minExposure, maxExposure);
+                setManualExposure(myExposure, myGain);
+            } else if (thisExpDn && !lastExpDn) {
+                myExposure = Range.clip(myExposure - 1, minExposure, maxExposure);
+                setManualExposure(myExposure, myGain);
+            }
+
+            // look for clicks to change the gain
+            if (thisGainUp && !lastGainUp) {
+                myGain = Range.clip(myGain + 1, minGain, maxGain );
+                setManualExposure(myExposure, myGain);
+            } else if (thisGainDn && !lastGainDn) {
+                myGain = Range.clip(myGain - 1, minGain, maxGain );
+                setManualExposure(myExposure, myGain);
+            }
+
+            lastExpUp = thisExpUp;
+            lastExpDn = thisExpDn;
+            lastGainUp = thisGainUp;
+            lastGainDn = thisGainDn;
+
+            sleep(20);
+        }
+    }
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+        // Create the AprilTag processor by using a builder.
+        aprilTag = new AprilTagProcessor.Builder().build();
+
+        // Create the WEBCAM vision portal by using a builder.
+        visionPortal = new VisionPortal.Builder()
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .addProcessor(aprilTag)
+                .build();
+    }
+
+    /*
+        Manually set the camera gain and exposure.
+        Can only be called AFTER calling initAprilTag();
+        Returns true if controls are set.
+     */
+    private boolean    setManualExposure(int exposureMS, int gain) {
+        // Ensure Vision Portal has been setup.
+        if (visionPortal == null) {
+            return false;
+        }
+
+        // Wait for the camera to be open
+        if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
+            telemetry.addData("Camera", "Waiting");
+            telemetry.update();
+            while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
+                sleep(20);
+            }
+            telemetry.addData("Camera", "Ready");
+            telemetry.update();
+        }
+
+        // Set camera controls unless we are stopping.
+        if (!isStopRequested())
+        {
+            // Set exposure.  Make sure we are in Manual Mode for these values to take effect.
+            ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
+            if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
+                exposureControl.setMode(ExposureControl.Mode.Manual);
+                sleep(50);
+            }
+            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            sleep(20);
+
+            // Set Gain.
+            GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
+            gainControl.setGain(gain);
+            sleep(20);
+            return (true);
+        } else {
+            return (false);
+        }
+    }
+
+    /*
+        Read this camera's minimum and maximum Exposure and Gain settings.
+        Can only be called AFTER calling initAprilTag();
+     */
+    private void getCameraSetting() {
+        // Ensure Vision Portal has been setup.
+        if (visionPortal == null) {
+            return;
+        }
+
+        // Wait for the camera to be open
+        if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
+            telemetry.addData("Camera", "Waiting");
+            telemetry.update();
+            while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
+                sleep(20);
+            }
+            telemetry.addData("Camera", "Ready");
+            telemetry.update();
+        }
+
+        // Get camera control values unless we are stopping.
+        if (!isStopRequested()) {
+            ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
+            minExposure = (int)exposureControl.getMinExposure(TimeUnit.MILLISECONDS) + 1;
+            maxExposure = (int)exposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
+
+            GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
+            minGain = gainControl.getMinGain();
+            maxGain = gainControl.getMaxGain();
+        }
+    }
+}

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

@@ -0,0 +1,196 @@
+/* Copyright (c) 2023 FIRST. 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.ClassFactory;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.VisionPortal.CameraState;
+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 recognition and pose estimation, using
+ * two webcams.
+ *
+ * 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 Switchable Cameras", group = "Concept")
+@Disabled
+public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
+
+    /*
+     * Variables used for switching cameras.
+     */
+    private WebcamName webcam1, webcam2;
+    private boolean oldLeftBumper;
+    private boolean oldRightBumper;
+
+    /**
+     * 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 Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            while (opModeIsActive()) {
+
+                telemetryCameraSwitching();
+                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();
+                }
+
+                doCameraSwitching();
+
+                // Share the CPU.
+                sleep(20);
+            }
+        }
+
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end runOpMode()
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+
+        // Create the AprilTag processor by using a builder.
+        aprilTag = new AprilTagProcessor.Builder().build();
+
+        webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
+        webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
+        CameraName switchableCamera = ClassFactory.getInstance()
+            .getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
+
+        // Create the vision portal by using a builder.
+        visionPortal = new VisionPortal.Builder()
+            .setCamera(switchableCamera)
+            .addProcessor(aprilTag)
+            .build();
+
+    }   // end method initAprilTag()
+
+    /**
+     * Add telemetry about camera switching.
+     */
+    private void telemetryCameraSwitching() {
+
+        if (visionPortal.getActiveCamera().equals(webcam1)) {
+            telemetry.addData("activeCamera", "Webcam 1");
+            telemetry.addData("Press RightBumper", "to switch to Webcam 2");
+        } else {
+            telemetry.addData("activeCamera", "Webcam 2");
+            telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
+        }
+
+    }   // end method telemetryCameraSwitching()
+
+    /**
+     * 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.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } 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)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+
+    /**
+     * Set the active camera according to input from the gamepad.
+     */
+    private void doCameraSwitching() {
+        if (visionPortal.getCameraState() == CameraState.STREAMING) {
+            // If the left bumper is pressed, use Webcam 1.
+            // If the right bumper is pressed, use Webcam 2.
+            boolean newLeftBumper = gamepad1.left_bumper;
+            boolean newRightBumper = gamepad1.right_bumper;
+            if (newLeftBumper && !oldLeftBumper) {
+                visionPortal.setActiveCamera(webcam1);
+            } else if (newRightBumper && !oldRightBumper) {
+                visionPortal.setActiveCamera(webcam2);
+            }
+            oldLeftBumper = newLeftBumper;
+            oldRightBumper = newRightBumper;
+        }
+
+    }   // end method doCameraSwitching()
+
+}   // end class

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

@@ -1,121 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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 com.qualcomm.robotcore.hardware.CompassSensor;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-/**
- * This file illustrates the concept of calibrating a MR Compass
- * It uses the common Pushbot hardware class to define the drive on the robot.
- * The code is structured as a LinearOpMode
- *
- *   This code assumes there is a compass configured with the name "compass"
- *
- *   This code will put the compass into calibration mode, wait three seconds and then attempt
- *   to rotate two full turns clockwise.  This will allow the compass to do a magnetic calibration.
- *
- *   Once compete, the program will put the compass back into measurement mode and check to see if the
- *   calibration was successful.
- *
- * 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: Compass Calibration", group="Concept")
-@Disabled
-public class ConceptCompassCalibration extends LinearOpMode {
-
-    /* Declare OpMode members. */
-    HardwarePushbot     robot   = new HardwarePushbot();   // Use a Pushbot's hardware
-    private ElapsedTime runtime = new ElapsedTime();
-    CompassSensor       compass;
-
-    final static double     MOTOR_POWER   = 0.2; // scale from 0 to 1
-    static final long       HOLD_TIME_MS  = 3000;
-    static final double     CAL_TIME_SEC  = 20;
-
-    @Override
-    public void runOpMode() {
-
-        /* Initialize the drive system variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
-
-        // get a reference to our Compass Sensor object.
-        compass = hardwareMap.get(CompassSensor.class, "compass");
-
-        // Send telemetry message to signify robot waiting;
-        telemetry.addData("Status", "Ready to cal");    //
-        telemetry.update();
-
-        // Wait for the game to start (driver presses PLAY)
-        waitForStart();
-
-        // Set the compass to calibration mode
-        compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
-        telemetry.addData("Compass", "Compass in calibration mode");
-        telemetry.update();
-
-        sleep(HOLD_TIME_MS);  // Just do a sleep while we switch modes
-
-        // Start the robot rotating clockwise
-        telemetry.addData("Compass", "Calibration mode. Turning the robot...");
-        telemetry.update();
-        robot.leftDrive.setPower(MOTOR_POWER);
-        robot.rightDrive.setPower(-MOTOR_POWER);
-
-        // run until time expires OR the driver presses STOP;
-        runtime.reset();
-        while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) {
-            idle();
-        }
-
-        // Stop all motors and turn off claibration
-        robot.leftDrive.setPower(0);
-        robot.rightDrive.setPower(0);
-        compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
-        telemetry.addData("Compass", "Returning to measurement mode");
-        telemetry.update();
-
-        sleep(HOLD_TIME_MS);  // Just do a sleep while we switch modes
-
-        // Report whether the Calibration was successful or not.
-        if (compass.calibrationFailed())
-            telemetry.addData("Compass", "Calibrate Failed. Try Again!");
-        else
-            telemetry.addData("Compass", "Calibrate Passed.");
-        telemetry.update();
-    }
-}

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

@@ -1,103 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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 com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-/**
- * This OpMode illustrates using the Device Interface Module as a signalling device.
- * The code is structured as a LinearOpMode
- *
- * This code assumes a DIM name "dim".
- *
- * There are many examples where the robot might like to signal the driver, without requiring them
- * to look at the driver station.  This might be something like a "ball in hopper" condition or a
- * "ready to shoot" condition.
- *
- * The DIM has two user settable indicator LEDs (one red one blue).  These can be controlled
- * directly from your program.
- *
- * Use Android Studios 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: DIM As Indicator", group = "Concept")
-@Disabled
-public class ConceptDIMAsIndicator extends LinearOpMode {
-
-    static final int    BLUE_LED    = 0;     // Blue LED channel on DIM
-    static final int    RED_LED     = 1;     // Red LED Channel on DIM
-
-    // Create timer to toggle LEDs
-    private ElapsedTime runtime = new ElapsedTime();
-
-    // Define class members
-    DeviceInterfaceModule   dim;
-
-    @Override
-    public void runOpMode() {
-
-        // Connect to motor (Assume standard left wheel)
-        // Change the text in quotes to match any motor name on your robot.
-        dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
-
-        // Toggle LEDs while Waiting for the start button
-        telemetry.addData(">", "Press Play to test LEDs." );
-        telemetry.update();
-
-        while (!isStarted()) {
-            // Determine if we are on an odd or even second
-            boolean even = (((int)(runtime.time()) & 0x01) == 0);
-            dim.setLED(RED_LED,   even); // Red for even
-            dim.setLED(BLUE_LED, !even); // Blue for odd
-            idle();
-        }
-
-        // Running now
-        telemetry.addData(">", "Press X for Blue, B for Red." );
-        telemetry.update();
-
-        // Now just use red and blue buttons to set red and blue LEDs
-        while(opModeIsActive()){
-            dim.setLED(BLUE_LED, gamepad1.x);
-            dim.setLED(RED_LED,  gamepad1.b);
-            idle();
-        }
-
-        // Turn off LEDs;
-        dim.setLED(BLUE_LED, false);
-        dim.setLED(RED_LED,  false);
-        telemetry.addData(">", "Done");
-        telemetry.update();
-    }
-}

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

@@ -0,0 +1,202 @@
+/* Copyright (c) 2023 FIRST. 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.tfod.Recognition;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.tfod.TfodProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of using both AprilTag recognition and TensorFlow
+ * Object 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: Double Vision", group = "Concept")
+@Disabled
+public class ConceptDoubleVision extends LinearOpMode {
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the TensorFlow Object Detection processor.
+     */
+    private TfodProcessor tfod;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal myVisionPortal;
+
+    @Override
+    public void runOpMode() {
+        initDoubleVision();
+
+        // This OpMode loops continuously, allowing the user to switch between
+        // AprilTag and TensorFlow Object Detection (TFOD) image processors.
+        while (!isStopRequested())  {
+
+            if (opModeInInit()) {
+                telemetry.addData("DS preview on/off","3 dots, Camera Stream");
+                telemetry.addLine();
+                telemetry.addLine("----------------------------------------");
+            }
+
+            if (myVisionPortal.getProcessorEnabled(aprilTag)) {
+                // User instructions: Dpad left or Dpad right.
+                telemetry.addLine("Dpad Left to disable AprilTag");
+                telemetry.addLine();
+                telemetryAprilTag();
+            } else {
+                telemetry.addLine("Dpad Right to enable AprilTag");
+            }
+            telemetry.addLine();
+            telemetry.addLine("----------------------------------------");
+            if (myVisionPortal.getProcessorEnabled(tfod)) {
+                telemetry.addLine("Dpad Down to disable TFOD");
+                telemetry.addLine();
+                telemetryTfod();
+            } else {
+                telemetry.addLine("Dpad Up to enable TFOD");
+            }
+
+            // Push telemetry to the Driver Station.
+            telemetry.update();
+
+            if (gamepad1.dpad_left) {
+                myVisionPortal.setProcessorEnabled(aprilTag, false);
+            } else if (gamepad1.dpad_right) {
+                myVisionPortal.setProcessorEnabled(aprilTag, true);
+            }
+            if (gamepad1.dpad_down) {
+                myVisionPortal.setProcessorEnabled(tfod, false);
+            } else if (gamepad1.dpad_up) {
+                myVisionPortal.setProcessorEnabled(tfod, true);
+            }
+
+            sleep(20);
+
+        }   // end while loop
+
+    }   // end method runOpMode()
+
+
+    /**
+     * Initialize AprilTag and TFOD.
+     */
+    private void initDoubleVision() {
+        // -----------------------------------------------------------------------------------------
+        // AprilTag Configuration
+        // -----------------------------------------------------------------------------------------
+
+        aprilTag = new AprilTagProcessor.Builder()
+            .build();
+
+        // -----------------------------------------------------------------------------------------
+        // TFOD Configuration
+        // -----------------------------------------------------------------------------------------
+
+        tfod = new TfodProcessor.Builder()
+            .build();
+
+        // -----------------------------------------------------------------------------------------
+        // Camera Configuration
+        // -----------------------------------------------------------------------------------------
+
+        if (USE_WEBCAM) {
+            myVisionPortal = new VisionPortal.Builder()
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .addProcessors(tfod, aprilTag)
+                .build();
+        } else {
+            myVisionPortal = new VisionPortal.Builder()
+                .setCamera(BuiltinCameraDirection.BACK)
+                .addProcessors(tfod, aprilTag)
+                .build();
+        }
+    }   // end initDoubleVision()
+
+    /**
+     * 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.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } 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
+
+    }   // end method telemetryAprilTag()
+
+    /**
+     * Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
+     */
+    private void telemetryTfod() {
+        List<Recognition> currentRecognitions = tfod.getRecognitions();
+        telemetry.addData("# Objects Detected", currentRecognitions.size());
+
+        // Step through the list of recognitions and display info for each one.
+        for (Recognition recognition : currentRecognitions) {
+            double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
+            double y = (recognition.getTop()  + recognition.getBottom()) / 2 ;
+
+            telemetry.addData(""," ");
+            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
+            telemetry.addData("- Position", "%.0f / %.0f", x, y);
+            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
+        }   // end for() loop
+
+    }   // end method telemetryTfod()
+
+}   // end class

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

@@ -0,0 +1,184 @@
+/*
+Copyright (c) 2022 REV Robotics, FIRST
+
+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 REV Robotics 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.rev.RevHubOrientationOnRobot;
+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.IMU;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+/*
+ * This OpMode demonstrates the impact of setting the IMU orientation correctly or incorrectly. This
+ * code assumes there is an IMU configured with the name "imu".
+ *
+ * Note: This OpMode is more of a tool than a code sample. The User Interface portion of this code
+ *       goes beyond simply showing how to interface to the IMU.<br>
+ *       For a minimal example of interfacing to an IMU, please see the SensorIMUOrthogonal or SensorIMUNonOrthogonal sample OpModes.
+ *
+ * This OpMode enables you to re-specify the Hub Mounting orientation dynamically by using gamepad controls.
+ * While doing so, the sample will display how Pitch, Roll and Yaw angles change as the hub is moved.
+ *
+ * The gamepad controls let you change the two parameters that specify how the Control/Expansion Hub is mounted. <br>
+ * The first parameter specifies which direction the printed logo on the Hub is pointing. <br>
+ * The second parameter specifies which direction the USB connector on the Hub is pointing. <br>
+ * All directions are relative to the robot, and left/right is as viewed from behind the robot.
+ *
+ * How will you know if you have chosen the correct Orientation? With the correct orientation
+ * parameters selected, pitch/roll/yaw should act as follows:
+ *
+ *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
+ *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
+ *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
+ *
+ * The Yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
+ *
+ * The rotational velocities should follow the change in corresponding axes.
+ */
+
+@TeleOp(name="Concept: IMU Orientation", group="Concept")
+@Disabled
+public class ConceptExploringIMUOrientation extends LinearOpMode {
+    static RevHubOrientationOnRobot.LogoFacingDirection[] logoFacingDirections
+            = RevHubOrientationOnRobot.LogoFacingDirection.values();
+    static RevHubOrientationOnRobot.UsbFacingDirection[] usbFacingDirections
+            = RevHubOrientationOnRobot.UsbFacingDirection.values();
+    static int LAST_DIRECTION = logoFacingDirections.length - 1;
+    static float TRIGGER_THRESHOLD = 0.2f;
+
+    IMU imu;
+    int logoFacingDirectionPosition;
+    int usbFacingDirectionPosition;
+    boolean orientationIsValid = true;
+
+    @Override public void runOpMode() throws InterruptedException {
+        imu = hardwareMap.get(IMU.class, "imu");
+        logoFacingDirectionPosition = 0; // Up
+        usbFacingDirectionPosition = 2; // Forward
+
+        updateOrientation();
+
+        boolean justChangedLogoDirection = false;
+        boolean justChangedUsbDirection = false;
+
+        // Loop until stop requested
+        while (!isStopRequested()) {
+
+            // Check to see if Yaw reset is requested (Y button)
+            if (gamepad1.y) {
+                telemetry.addData("Yaw", "Resetting\n");
+                imu.resetYaw();
+            } else {
+                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset.\n");
+            }
+
+            // Check to see if new Logo Direction is requested
+            if (gamepad1.left_bumper || gamepad1.right_bumper) {
+                if (!justChangedLogoDirection) {
+                    justChangedLogoDirection = true;
+                    if (gamepad1.left_bumper) {
+                        logoFacingDirectionPosition--;
+                        if (logoFacingDirectionPosition < 0) {
+                            logoFacingDirectionPosition = LAST_DIRECTION;
+                        }
+                    } else {
+                        logoFacingDirectionPosition++;
+                        if (logoFacingDirectionPosition > LAST_DIRECTION) {
+                            logoFacingDirectionPosition = 0;
+                        }
+                    }
+                    updateOrientation();
+                }
+            } else {
+                justChangedLogoDirection = false;
+            }
+
+            // Check to see if new USB Direction is requested
+            if (gamepad1.left_trigger > TRIGGER_THRESHOLD || gamepad1.right_trigger > TRIGGER_THRESHOLD) {
+                if (!justChangedUsbDirection) {
+                    justChangedUsbDirection = true;
+                    if (gamepad1.left_trigger > TRIGGER_THRESHOLD) {
+                        usbFacingDirectionPosition--;
+                        if (usbFacingDirectionPosition < 0) {
+                            usbFacingDirectionPosition = LAST_DIRECTION;
+                        }
+                    } else {
+                        usbFacingDirectionPosition++;
+                        if (usbFacingDirectionPosition > LAST_DIRECTION) {
+                            usbFacingDirectionPosition = 0;
+                        }
+                    }
+                    updateOrientation();
+                }
+            } else {
+                justChangedUsbDirection = false;
+            }
+
+            // Display User instructions and IMU data
+            telemetry.addData("logo Direction (set with bumpers)", logoFacingDirections[logoFacingDirectionPosition]);
+            telemetry.addData("usb Direction (set with triggers)", usbFacingDirections[usbFacingDirectionPosition] + "\n");
+
+            if (orientationIsValid) {
+                YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+                AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
+
+                telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
+                telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
+                telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
+                telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
+                telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
+                telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
+            } else {
+                telemetry.addData("Error", "Selected orientation on robot is invalid");
+            }
+
+            telemetry.update();
+        }
+    }
+
+    // apply any requested orientation changes.
+    void updateOrientation() {
+        RevHubOrientationOnRobot.LogoFacingDirection logo = logoFacingDirections[logoFacingDirectionPosition];
+        RevHubOrientationOnRobot.UsbFacingDirection usb = usbFacingDirections[usbFacingDirectionPosition];
+        try {
+            RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logo, usb);
+            imu.initialize(new IMU.Parameters(orientationOnRobot));
+            orientationIsValid = true;
+        } catch (IllegalArgumentException e) {
+            orientationIsValid = false;
+        }
+    }
+}

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

@@ -0,0 +1,142 @@
+/* Copyright (c) 2022 FIRST. 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 com.qualcomm.robotcore.util.Range;
+
+/*
+ * This OpMode illustrates how to use an external "hardware" class to modularize all the robot's sensors and actuators.
+ * This approach is very efficient because the same hardware class can be used by all of your teleop and autonomous OpModes
+ * without requiring many copy & paste operations.  Once you have defined and tested the hardware class with one OpMode,
+ * it is instantly available to other OpModes.
+ *
+ * The real benefit of this approach is that as you tweak your robot hardware, you only need to make changes in ONE place (the Hardware Class).
+ * So, to be effective you should put as much or your hardware setup and access code as possible in the hardware class.
+ * Essentially anything you do with hardware in BOTH Teleop and Auto should likely go in the hardware class.
+ *
+ * The Hardware Class is created in a separate file, and then an "instance" of this class is created in each OpMode.
+ * In order for the class to do typical OpMode things (like send telemetry data) it must be passed a reference to the
+ * OpMode object when it's created, so it can access all core OpMode functions.  This is illustrated below.
+ *
+ * In this concept sample, the hardware class file is called RobotHardware.java and it must accompany this sample OpMode.
+ * So, if you copy ConceptExternalHardwareClass.java into TeamCode (using Android Studio or OnBotJava) then RobotHardware.java
+ * must also be copied to the same location (maintaining its name).
+ *
+ * For comparison purposes, this sample and its accompanying hardware class duplicates the functionality of the
+ * RobotTelopPOV_Linear OpMode.  It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
+ *
+ * View the RobotHardware.java class file for more details
+ *
+ *  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
+ *
+ *  In OnBot Java, add a new OpMode, select this sample, and select TeleOp.
+ *  Also add another new file named RobotHardware.java, select the sample with that name, and select Not an OpMode.
+ */
+
+@TeleOp(name="Concept: Robot Hardware Class", group="Robot")
+@Disabled
+public class ConceptExternalHardwareClass extends LinearOpMode {
+
+    // Create a RobotHardware object to be used to access robot hardware.
+    // Prefix any hardware functions with "robot." to access this class.
+    RobotHardware   robot       = new RobotHardware(this);
+
+    @Override
+    public void runOpMode() {
+        double drive        = 0;
+        double turn         = 0;
+        double arm          = 0;
+        double handOffset   = 0;
+
+        // initialize all the hardware, using the hardware class. See how clean and simple this is?
+        robot.init();
+
+        // Send telemetry message to signify robot waiting;
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+
+            // Run wheels in POV mode (note: The joystick goes negative when pushed forward, so negate it)
+            // In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
+            // This way it's also easy to just drive straight, or just turn.
+            drive = -gamepad1.left_stick_y;
+            turn  =  gamepad1.right_stick_x;
+
+            // Combine drive and turn for blended motion. Use RobotHardware class
+            robot.driveRobot(drive, turn);
+
+            // Use gamepad left & right Bumpers to open and close the claw
+            // Use the SERVO constants defined in RobotHardware class.
+            // Each time around the loop, the servos will move by a small amount.
+            // Limit the total offset to half of the full travel range
+            if (gamepad1.right_bumper)
+                handOffset += robot.HAND_SPEED;
+            else if (gamepad1.left_bumper)
+                handOffset -= robot.HAND_SPEED;
+            handOffset = Range.clip(handOffset, -0.5, 0.5);
+
+            // Move both servos to new position.  Use RobotHardware class
+            robot.setHandPositions(handOffset);
+
+            // Use gamepad buttons to move arm up (Y) and down (A)
+            // Use the MOTOR constants defined in RobotHardware class.
+            if (gamepad1.y)
+                arm = robot.ARM_UP_POWER;
+            else if (gamepad1.a)
+                arm = robot.ARM_DOWN_POWER;
+            else
+                arm = 0;
+
+            robot.setArmPower(arm);
+
+            // Send telemetry messages to explain controls and show robot status
+            telemetry.addData("Drive", "Left Stick");
+            telemetry.addData("Turn", "Right Stick");
+            telemetry.addData("Arm Up/Down", "Y & A Buttons");
+            telemetry.addData("Hand Open/Closed", "Left and Right Bumpers");
+            telemetry.addData("-", "-------");
+
+            telemetry.addData("Drive Power", "%.2f", drive);
+            telemetry.addData("Turn Power",  "%.2f", turn);
+            telemetry.addData("Arm Power",  "%.2f", arm);
+            telemetry.addData("Hand Position",  "Offset = %.2f", handOffset);
+            telemetry.update();
+
+            // Pace this loop so hands move at a reasonable speed.
+            sleep(50);
+        }
+    }
+}

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

@@ -0,0 +1,200 @@
+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 com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/*
+ * This OpMode illustrates using the rumble feature of many gamepads.
+ *
+ * Note: Some gamepads "rumble" better than others.
+ *   The Xbox & PS4 have a left (rumble1) and right (rumble2) rumble motor.
+ *   These two gamepads have two distinct rumble modes: Large on the left, and small on the right
+ *   The Etpark gamepad may only respond to rumble1, and may only run at full power.
+ *   The Logitech F310 gamepad does not have *any* rumble ability.
+ *
+ *   Moral:  You should use this sample to experiment with your specific gamepads to explore their rumble features.
+ *
+ * The rumble motors are accessed through the standard gamepad1 and gamepad2 objects.
+ *   Several new methods were added to the Gamepad class in FTC SDK Rev 7
+ *   The key methods are as follows:
+ *
+ *   .rumble(double rumble1, double rumble2, int durationMs)
+ *     This method sets the rumble power of both motors for a specific time duration.
+ *     Both rumble arguments are motor-power levels in the 0.0 to 1.0 range.
+ *     durationMs is the desired length of the rumble action in milliseconds.
+ *     This method returns immediately.
+ *     Note:
+ *       Use a durationMs of Gamepad.RUMBLE_DURATION_CONTINUOUS to provide a continuous rumble
+ *       Use a power of 0, or duration of 0 to stop a rumble.
+ *
+ *   .rumbleBlips(int count) allows an easy way to signal the driver with a series of rumble blips.
+ *     Just specify how many blips you want.
+ *     This method returns immediately.
+ *
+ *   .runRumbleEffect(customRumbleEffect) allows you to run a custom rumble sequence that you have
+ *     built using the Gamepad.RumbleEffect.Builder()
+ *     A "custom effect" is a sequence of steps, where each step can rumble any of the
+ *     rumble motors for a specific period at a specific power level.
+ *     The Custom Effect will play as the (un-blocked) OpMode continues to run
+ *
+ *   .isRumbling() returns true if there is a rumble effect in progress.
+ *     Use this call to prevent stepping on a current rumble.
+ *
+ *   .stopRumble()              Stop any ongoing rumble or custom rumble effect.
+ *
+ *   .rumble(int durationMs)    Full power rumble for fixed duration.
+ *
+ *   Note: Whenever a new Rumble command is issued, any currently executing rumble action will
+ *   be truncated, and the new action started immediately.  Take these precautions:
+ *      1) Do Not SPAM the rumble motors by issuing rapid fire commands
+ *      2) Multiple sources for rumble commands must coordinate to avoid tromping on each other.
+ *
+ *   This can be achieved several possible ways:
+ *   1) Only having one source for rumble actions
+ *   2) Issuing rumble commands on transitions, rather than states.
+ *      e.g. The moment a touch sensor is pressed, rather than the entire time it is being pressed.
+ *   3) Scheduling rumble commands based on timed events. e.g. 10 seconds prior to endgame
+ *   4) Rumble on non-overlapping mechanical actions. e.g. arm fully-extended or fully-retracted.
+ *   5) Use isRumbling() to hold off on a new rumble if one is already in progress.
+ *
+ * The examples shown here are representstive of how to invoke a gamepad rumble.
+ * It is assumed that these will be modified to suit the specific robot and team strategy needs.
+ *
+ * ########   Read the telemetry display on the Driver Station Screen for instructions.   ######
+ *
+ * Ex 1)    This example shows a) how to create a custom rumble effect, and then b) how to trigger it based
+ *          on game time.  One use for this might be to alert the driver that half-time or End-game is approaching.
+ *
+ * Ex 2)    This example shows tying the rumble power to a changing sensor value.
+ *          In this case it is the Gamepad trigger, but it could be any sensor output scaled to the 0-1 range.
+ *          Since it takes over the rumble motors, it is only performed when the Left Bumper is pressed.
+ *          Note that this approach MUST include a way to turn OFF the rumble when the button is released.
+ *
+ * Ex 3)    This example shows a simple way to trigger a 3-blip sequence.  In this case it is
+ *          triggered by the gamepad A (Cross) button, but it could be any sensor, like a touch or light sensor.
+ *          Note that this code ensures that it only rumbles once when the input goes true.
+ *
+ * Ex 4)    This example shows how to trigger a single rumble when an input value gets over a certain value.
+ *          In this case it is reading the Right Trigger, but it could be any variable sensor, like a
+ *          range sensor, or position sensor.  The code needs to ensure that it is only triggered once, so
+ *          it waits till the sensor drops back below the threshold before it can trigger again.
+ *
+ * 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.
+ */
+
+@Disabled
+@TeleOp(name="Concept: Gamepad Rumble", group ="Concept")
+public class ConceptGamepadRumble extends LinearOpMode
+{
+    boolean lastA = false;                      // Use to track the prior button state.
+    boolean lastLB = false;                     // Use to track the prior button state.
+    boolean highLevel = false;                  // used to prevent multiple level-based rumbles.
+    boolean secondHalf = false;                 // Use to prevent multiple half-time warning rumbles.
+
+    Gamepad.RumbleEffect customRumbleEffect;    // Use to build a custom rumble sequence.
+    ElapsedTime runtime = new ElapsedTime();    // Use to determine when end game is starting.
+
+    final double HALF_TIME = 60.0;              // Wait this many seconds before rumble-alert for half-time.
+    final double TRIGGER_THRESHOLD  = 0.75;     // Squeeze more than 3/4 to get rumble.
+
+    @Override
+    public void runOpMode()
+    {
+        // Example 1. a)   start by creating a three-pulse rumble sequence: right, LEFT, LEFT
+        customRumbleEffect = new Gamepad.RumbleEffect.Builder()
+                .addStep(0.0, 1.0, 500)  //  Rumble right motor 100% for 500 mSec
+                .addStep(0.0, 0.0, 300)  //  Pause for 300 mSec
+                .addStep(1.0, 0.0, 250)  //  Rumble left motor 100% for 250 mSec
+                .addStep(0.0, 0.0, 250)  //  Pause for 250 mSec
+                .addStep(1.0, 0.0, 250)  //  Rumble left motor 100% for 250 mSec
+                .build();
+
+        telemetry.addData(">", "Press Start");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();    // Start game timer.
+
+        // Loop while monitoring buttons for rumble triggers
+        while (opModeIsActive())
+        {
+            // Read and save the current gamepad button states.
+            boolean currentA = gamepad1.a ;
+            boolean currentLB = gamepad1.left_bumper ;
+
+            // Display the current Rumble status.  Just for interest.
+            telemetry.addData(">", "Are we RUMBLING? %s\n", gamepad1.isRumbling() ? "YES" : "no" );
+
+            // ----------------------------------------------------------------------------------------
+            // Example 1. b) Watch the runtime timer, and run the custom rumble when we hit half-time.
+            //               Make sure we only signal once by setting "secondHalf" flag to prevent further rumbles.
+            // ----------------------------------------------------------------------------------------
+            if ((runtime.seconds() > HALF_TIME) && !secondHalf)  {
+                gamepad1.runRumbleEffect(customRumbleEffect);
+                secondHalf =true;
+            }
+
+            // Display the time remaining while we are still counting down.
+            if (!secondHalf) {
+                telemetry.addData(">", "Halftime Alert Countdown: %3.0f Sec \n", (HALF_TIME - runtime.seconds()) );
+            }
+
+
+            // ----------------------------------------------------------------------------------------
+            // Example 2. If Left Bumper is being pressed, power the rumble motors based on the two trigger depressions.
+            // This is useful to see how the rumble feels at various power levels.
+            // ----------------------------------------------------------------------------------------
+            if (currentLB) {
+                // Left Bumper is being pressed, so send left and right "trigger" values to left and right rumble motors.
+                gamepad1.rumble(gamepad1.left_trigger, gamepad1.right_trigger, Gamepad.RUMBLE_DURATION_CONTINUOUS);
+
+                // Show what is being sent to rumbles
+                telemetry.addData(">", "Squeeze triggers to control rumbles");
+                telemetry.addData("> : Rumble", "Left: %.0f%%   Right: %.0f%%", gamepad1.left_trigger * 100, gamepad1.right_trigger * 100);
+            } else {
+                // Make sure rumble is turned off when Left Bumper is released (only one time each press)
+                if (lastLB) {
+                    gamepad1.stopRumble();
+                }
+
+                //  Prompt for manual rumble action
+                telemetry.addData(">", "Hold Left-Bumper to test Manual Rumble");
+                telemetry.addData(">", "Press A (Cross) for three blips");
+                telemetry.addData(">", "Squeeze right trigger slowly for 1 blip");
+            }
+            lastLB = currentLB; // remember the current button state for next time around the loop
+
+
+            // ----------------------------------------------------------------------------------------
+            // Example 3. Blip 3 times at the moment that A (Cross) is pressed. (look for pressed transition)
+            // BUT !!!  Skip it altogether if the Gamepad is already rumbling.
+            // ----------------------------------------------------------------------------------------
+            if (currentA && !lastA) {
+                if (!gamepad1.isRumbling())  // Check for possible overlap of rumbles.
+                    gamepad1.rumbleBlips(3);
+            }
+            lastA = currentA; // remember the current button state for next time around the loop
+
+
+            // ----------------------------------------------------------------------------------------
+            // Example 4. Rumble once when gamepad right trigger goes above the THRESHOLD.
+            // ----------------------------------------------------------------------------------------
+            if (gamepad1.right_trigger > TRIGGER_THRESHOLD) {
+                if (!highLevel) {
+                    gamepad1.rumble(0.9, 0, 200);  // 200 mSec burst on left motor.
+                    highLevel = true;  // Hold off any more triggers
+                }
+            } else {
+                highLevel = false;  // We can trigger again now.
+            }
+
+            // Send the telemetry data to the Driver Station, and then pause to pace the program.
+            telemetry.update();
+            sleep(10);
+        }
+    }
+}

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

@@ -0,0 +1,77 @@
+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.Telemetry;
+
+/*
+ * This OpMode illustrates using the touchpad feature found on some gamepads.
+ *
+ * The Sony PS4 gamepad can detect two distinct touches on the central touchpad.
+ * Other gamepads with different touchpads may provide mixed results.
+ *
+ * The touchpads are accessed through the standard gamepad1 and gamepad2 objects.
+ *   Several new members were added to the Gamepad class in FTC SDK Rev 7
+ *
+ *   .touchpad_finger_1     returns true if at least one finger is detected.
+ *   .touchpad_finger_1_x   finger 1 X coordinate.  Valid if touchpad_finger_1 is true
+ *   .touchpad_finger_1_y   finger 1 Y coordinate.  Valid if touchpad_finger_1 is true
+ *
+ *   .touchpad_finger_2     returns true if a second finger is detected
+ *   .touchpad_finger_2_x   finger 2 X coordinate.  Valid if touchpad_finger_2 is true
+ *   .touchpad_finger_2_y   finger 2 Y coordinate.  Valid if touchpad_finger_2 is true
+ *
+ * Finger touches are reported with an X and Y coordinate in following coordinate system.
+ *
+ *   1) X is the Horizontal axis, and Y is the vertical axis
+ *   2) The 0,0 origin is at the center of the touchpad.
+ *   3)  1.0, 1.0 is at the top right corner of the touchpad.
+ *   4) -1.0,-1.0 is at the bottom left corner of the touchpad.
+ *
+ * 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.
+ */
+
+@Disabled
+@TeleOp(name="Concept: Gamepad Touchpad", group ="Concept")
+public class ConceptGamepadTouchpad extends LinearOpMode
+{
+    @Override
+    public void runOpMode()
+    {
+        telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
+
+        telemetry.addData(">", "Press Start");
+        telemetry.update();
+
+        waitForStart();
+
+        while (opModeIsActive())
+        {
+            boolean finger = false;
+
+            // Display finger 1 x & y position if finger detected
+            if(gamepad1.touchpad_finger_1)
+            {
+                finger = true;
+                telemetry.addLine(String.format("Finger 1: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_1_x, gamepad1.touchpad_finger_1_y));
+            }
+
+            // Display finger 2 x & y position if finger detected
+            if(gamepad1.touchpad_finger_2)
+            {
+                finger = true;
+                telemetry.addLine(String.format("Finger 2: x=%5.2f y=%5.2f\n", gamepad1.touchpad_finger_2_x, gamepad1.touchpad_finger_2_y));
+            }
+
+            if(!finger)
+            {
+                telemetry.addLine("No fingers");
+            }
+
+            telemetry.update();
+            sleep(10);
+        }
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java

@@ -1,223 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule;
-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.DeviceInterfaceModule;
-import com.qualcomm.robotcore.hardware.I2cAddr;
-import com.qualcomm.robotcore.util.RobotLog;
-import com.qualcomm.robotcore.util.TypeConversion;
-
-import java.util.concurrent.locks.Lock;
-
-/**
- * An example of a linear op mode that shows how to change the I2C address.
- */
-@TeleOp(name = "Concept: I2c Address Change", group = "Concept")
-@Disabled
-public class ConceptI2cAddressChange extends LinearOpMode {
-
-  public static final int ADDRESS_SET_NEW_I2C_ADDRESS = 0x70;
-  // trigger bytes used to change I2C address on ModernRobotics sensors.
-  public static final byte TRIGGER_BYTE_1 = 0x55;
-  public static final byte TRIGGER_BYTE_2 = (byte) 0xaa;
-
-  // Expected bytes from the Modern Robotics IR Seeker V3 memory map
-  public static final byte IR_SEEKER_V3_FIRMWARE_REV = 0x12;
-  public static final byte IR_SEEKER_V3_SENSOR_ID = 0x49;
-  public static final I2cAddr IR_SEEKER_V3_ORIGINAL_ADDRESS = I2cAddr.create8bit(0x38);
-
-  // Expected bytes from the Modern Robotics Color Sensor memory map
-  public static final byte COLOR_SENSOR_FIRMWARE_REV = 0x10;
-  public static final byte COLOR_SENSOR_SENSOR_ID = 0x43;
-  public static final byte COLOR_SENSOR_ORIGINAL_ADDRESS = 0x3C;
-
-  public static final byte MANUFACTURER_CODE = 0x4d;
-  // Currently, this is set to expect the bytes from the IR Seeker.
-  // If you change these values so you're setting "FIRMWARE_REV" to
-  // COLOR_SENSOR_FIRMWARE_REV, and "SENSOR_ID" to "COLOR_SENSOR_SENSOR_ID",
-  // you'll be able to change the I2C address of the ModernRoboticsColorSensor.
-  // If the bytes you're expecting are different than what this op mode finds,
-  // a comparison will be printed out into the logfile.
-  public static final byte FIRMWARE_REV = IR_SEEKER_V3_FIRMWARE_REV;
-  public static final byte SENSOR_ID = IR_SEEKER_V3_SENSOR_ID;
-
-  // These byte values are common with most Modern Robotics sensors.
-  public static final int READ_MODE = 0x80;
-  public static final int ADDRESS_MEMORY_START = 0x0;
-  public static final int TOTAL_MEMORY_LENGTH = 0x0c;
-  public static final int BUFFER_CHANGE_ADDRESS_LENGTH = 0x03;
-
-  // The port where your sensor is connected.
-  int port = 5;
-
-  byte[] readCache;
-  Lock readLock;
-  byte[] writeCache;
-  Lock writeLock;
-
-  I2cAddr currentAddress = IR_SEEKER_V3_ORIGINAL_ADDRESS;
-  // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
-  // Different hardware may have different rules.
-  // Be sure to read the requirements for the hardware you're using!
-  // If you use an invalid address, you may make your device completely unusable.
-  I2cAddr newAddress = I2cAddr.create8bit(0x42);
-
-  DeviceInterfaceModule dim;
-
-  @Override
-  public void runOpMode() {
-
-    // set up the hardware devices we are going to use
-    dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");
-
-    readCache = dim.getI2cReadCache(port);
-    readLock = dim.getI2cReadCacheLock(port);
-    writeCache = dim.getI2cWriteCache(port);
-    writeLock = dim.getI2cWriteCacheLock(port);
-
-    // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
-    // Different hardware may have different rules.
-    // Be sure to read the requirements for the hardware you're using!
-    ModernRoboticsUsbDeviceInterfaceModule.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
-
-    // wait for the start button to be pressed
-    waitForStart();
-
-    performAction("read", port, currentAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
-
-    while(!dim.isI2cPortReady(port)) {
-      telemetry.addData("I2cAddressChange", "waiting for the port to be ready...");
-      telemetry.update();
-      sleep(1000);
-    }
-
-    // update the local cache
-    dim.readI2cCacheFromController(port);
-
-    // make sure the first bytes are what we think they should be.
-    int count = 0;
-    int[] initialArray = {READ_MODE, currentAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
-    while (!foundExpectedBytes(initialArray, readLock, readCache)) {
-      telemetry.addData("I2cAddressChange", "Confirming that we're reading the correct bytes...");
-      telemetry.update();
-      dim.readI2cCacheFromController(port);
-      sleep(1000);
-      count++;
-      // if we go too long with failure, we probably are expecting the wrong bytes.
-      if (count >= 10)  {
-        telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
-        hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
-        telemetry.update();
-      }
-    }
-
-    // Enable writes to the correct segment of the memory map.
-    performAction("write", port, currentAddress, ADDRESS_SET_NEW_I2C_ADDRESS, BUFFER_CHANGE_ADDRESS_LENGTH);
-
-    // Write out the trigger bytes, and the new desired address.
-    writeNewAddress();
-    dim.setI2cPortActionFlag(port);
-    dim.writeI2cCacheToController(port);
-
-    telemetry.addData("I2cAddressChange", "Giving the hardware 60 seconds to make the change...");
-    telemetry.update();
-
-    // Changing the I2C address takes some time.
-    sleep(60000);
-
-    // Query the new address and see if we can get the bytes we expect.
-    dim.enableI2cReadMode(port, newAddress, ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH);
-    dim.setI2cPortActionFlag(port);
-    dim.writeI2cCacheToController(port);
-
-    int[] confirmArray = {READ_MODE, newAddress.get8Bit(), ADDRESS_MEMORY_START, TOTAL_MEMORY_LENGTH, FIRMWARE_REV, MANUFACTURER_CODE, SENSOR_ID};
-    while (!foundExpectedBytes(confirmArray, readLock, readCache)) {
-      telemetry.addData("I2cAddressChange", "Have not confirmed the changes yet...");
-      telemetry.update();
-      dim.readI2cCacheFromController(port);
-      sleep(1000);
-    }
-
-    telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 8bit=0x%02x", newAddress.get8Bit());
-    telemetry.update();
-    RobotLog.i("Successfully changed the I2C address." + String.format("New address: 8bit=0x%02x", newAddress.get8Bit()));
-
-    /**** IMPORTANT NOTE ******/
-    // You need to add a line like this at the top of your op mode
-    // to update the I2cAddress in the driver.
-    //irSeeker.setI2cAddress(newAddress);
-    /***************************/
-
-  }
-
-  private boolean foundExpectedBytes(int[] byteArray, Lock lock, byte[] cache) {
-    try {
-      lock.lock();
-      boolean allMatch = true;
-      StringBuilder s = new StringBuilder(300 * 4);
-      String mismatch = "";
-      for (int i = 0; i < byteArray.length; i++) {
-        s.append(String.format("expected: %02x, got: %02x \n", TypeConversion.unsignedByteToInt( (byte) byteArray[i]), cache[i]));
-        if (TypeConversion.unsignedByteToInt(cache[i]) != TypeConversion.unsignedByteToInt( (byte) byteArray[i])) {
-          mismatch = String.format("i: %d, byteArray[i]: %02x, cache[i]: %02x", i, byteArray[i], cache[i]);
-          allMatch = false;
-        }
-      }
-      RobotLog.e(s.toString() + "\n allMatch: " + allMatch + ", mismatch: " + mismatch);
-      return allMatch;
-    } finally {
-      lock.unlock();
-    }
-  }
-
-  private void performAction(String actionName, int port, I2cAddr i2cAddress, int memAddress, int memLength) {
-    if (actionName.equalsIgnoreCase("read")) dim.enableI2cReadMode(port, i2cAddress, memAddress, memLength);
-    if (actionName.equalsIgnoreCase("write")) dim.enableI2cWriteMode(port, i2cAddress, memAddress, memLength);
-
-    dim.setI2cPortActionFlag(port);
-    dim.writeI2cCacheToController(port);
-    dim.readI2cCacheFromController(port);
-  }
-
-  private void writeNewAddress() {
-    try {
-      writeLock.lock();
-      writeCache[4] = (byte) newAddress.get8Bit();
-      writeCache[5] = TRIGGER_BYTE_1;
-      writeCache[6] = TRIGGER_BYTE_2;
-    } finally {
-      writeLock.unlock();
-    }
-  }
-}

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

@@ -36,44 +36,49 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-import java.util.Iterator;
 import java.util.List;
 
-    /*
-        This sample illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times.
-        In this example there are 4 motors that need their encoder positions, and velocities read.
-        The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located.
-
-        Three scenarios are tested:
-        Cache Mode = OFF    This is the normal default, where no cache is used, and every read produces a discrete transaction with
-                            an expansion hub, which is the slowest approach.
-        Cache Mode = AUTO   This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
-                            and then returning values that have been cached.  The cache is updated automatically whenever a specific read operation is repeated.
-                            This mode will always return fresh data, but it may perform more bulk-reads than absolutely required.
-                            Extra reads will be performed if multiple identical encoder/velocity reads are performed in one control cycle.
-                            This mode is a good compromise between the OFF and MANUAL modes.
-        Cache Mode = MANUAL This mode enables the user's code to determine the best time to refresh the cached bulk-read data.
-                            Well organized code can place all the sensor reads in one location, and then just reset the cache once per control cycle.
-                            The approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
-
-        -------------------------------------
-
-        General tip to speed up your control cycles:
-        No matter what method you use to read encoders and other inputs, you should try to
-        avoid reading the same input multiple times around a control loop.
-        Under normal conditions, this will slow down the control loop.
-        The preferred method is to read all the required inputs ONCE at the beginning of the loop,
-        and save the values in variable that can be used by other parts of the control code.
-
-        eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
-        call in the telemetry statement will force the code to go and get another copy which will take time.
-        It's much better read the position into a variable once, and use that variable for control AND display.
-        Reading saved variables takes no time at all.
-
-        Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
-        the bulk-read AUTO mode to streamline your cycle timing.
-
-     */
+/*
+ * This OpMode illustrates how to use the Expansion Hub's Bulk-Read feature to speed up control cycle times.
+ * In this example there are 4 motors that need their encoder positions, and velocities read.
+ * The sample is written to work with one or two expansion hubs, with no assumption as to where the motors are located.
+ *
+ * Three scenarios are tested:
+ * Cache Mode = OFF    This is the normal default, where no cache is used, and every read produces a discrete transaction with
+ *                     an expansion hub, which is the slowest approach, but guarentees that the value is as fresh (recent) as possible..
+ *
+ * Cache Mode = AUTO   This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
+ *                     and then returning values that have been cached.  The cache is updated automatically whenever any specific encoder is re-read.
+ *                     This mode will always return new data, but it may perform more bulk-reads than absolutely required.
+ *                     Extra reads will be performed if multiple encoder/velocity reads are performed on the same encoder in one control cycle.
+ *                     This mode is a good compromise between the OFF and MANUAL modes.
+ *                     Note: If there are significant user-program delays between encoder reads, the cached value may not be fresh (recent).
+ *                     You can issue a clearBulkCache() call at any time force a fresh bulk-read on the next encoder read.
+ *
+ * Cache Mode = MANUAL This mode requires the user's code to determine the best time to clear the cached bulk-read data.
+ *                     Well organized code will reset the cache once at the beginning of the control cycle, and then immediately read and store all the encoder values.
+ *                     This approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
+ *                     Since NO automatic Bulk-Reads are performed, neglecting to clear the bulk cache will result in the same values being returned
+ *                     each time an encoder read is performed.
+ *
+ * -------------------------------------
+ *
+ * General tip to speed up your control cycles:
+ *
+ * No matter what method you use to read encoders and other inputs, you should try to
+ * avoid reading the same encoder input multiple times around a control loop.
+ * Under normal conditions, this will slow down the control loop.
+ * The preferred method is to read all the required inputs ONCE at the beginning of the loop,
+ * and save the values in variable that can be used by other parts of the control code.
+ *
+ * eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
+ * call in the telemetry statement will force the code to go and get another copy which will take time.
+ * It's much better read the position into a variable once, and use that variable for control AND display.
+ * Reading saved variables takes no time at all.
+ *
+ * Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
+ * the bulk-read AUTO mode to streamline your cycle timing.
+ */
 @TeleOp (name = "Motor Bulk Reads", group = "Tests")
 @Disabled
 public class ConceptMotorBulkRead extends LinearOpMode {

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

@@ -34,11 +34,8 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-import java.text.SimpleDateFormat;
-import java.util.Date;
-
-/**
- * Demonstrates empty OpMode
+/*
+ * Demonstrates an empty iterative OpMode
  */
 @TeleOp(name = "Concept: NullOp", group = "Concept")
 @Disabled
@@ -46,34 +43,47 @@ public class ConceptNullOp extends OpMode {
 
   private ElapsedTime runtime = new ElapsedTime();
 
+  /**
+   * This method will be called once, when the INIT button is pressed.
+   */
   @Override
   public void init() {
     telemetry.addData("Status", "Initialized");
   }
 
-  /*
-     * Code to run when the op mode is first enabled goes here
-     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
-     */
+  /**
+   * 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
+   * OpMode is stopped).
+   */
   @Override
   public void init_loop() {
   }
 
-  /*
-   * This method will be called ONCE when start is pressed
-   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
+  /**
+   * This method will be called once, when the play button is pressed.
    */
   @Override
   public void start() {
     runtime.reset();
   }
 
-  /*
-   * This method will be called repeatedly in a loop
-   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
+  /**
+   * This method will be called repeatedly during the period between when
+   * the play button is pressed and when the OpMode is stopped.
    */
   @Override
   public void loop() {
     telemetry.addData("Status", "Run Time: " + runtime.toString());
   }
+
+  /**
+   * This method will be called once, when this OpMode is stopped.
+   * <p>
+   * Your ability to control hardware from this method will be limited.
+   */
+  @Override
+  public void stop() {
+
+  }
 }

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

@@ -34,17 +34,17 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
-/**
+/*
  * This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
  * The code is structured as a LinearOpMode
  *
- * This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot.
+ * This code assumes a DC motor configured with the name "left_drive" as is found on a Robot.
  *
  * INCREMENT sets how much to increase/decrease the power each cycle
  * CYCLE_MS sets the update period.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Concept: Ramp Motor Speed", group = "Concept")
 @Disabled

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

@@ -37,15 +37,14 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
 
-/**
- *
+/*
  * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
  * To use this example, connect two REV SPARKminis into servo ports on the Expansion 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'.
  *
- * Use Android Studios 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
+ * 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="REV SPARKmini Simple Drive Example", group="Concept")
@@ -69,7 +68,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
         rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
 
         // Most robots need the motor on one side to be reversed to drive forward
-        // Reverse the motor that runs backwards when connected directly to the battery
+        // Reverse the motor that runs backward when connected directly to the battery
         leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
         rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
 

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

@@ -34,19 +34,19 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Servo;
 
-/**
- * This OpMode scans a single servo back and forwards until Stop is pressed.
+/*
+ * This OpMode scans a single servo back and forward until Stop is pressed.
  * The code is structured as a LinearOpMode
  * INCREMENT sets how much to increase/decrease the servo position each cycle
  * CYCLE_MS sets the update period.
  *
- * This code assumes a Servo configured with the name "left_hand" as is found on a pushbot.
+ * This code assumes a Servo configured with the name "left_hand" as is found on a Robot.
  *
  * NOTE: When any servo position is set, ALL attached servos are activated, so ensure that any other
  * connected servos are able to move freely before running this test.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Concept: Scan Servo", group = "Concept")
 @Disabled
@@ -66,7 +66,7 @@ public class ConceptScanServo extends LinearOpMode {
     @Override
     public void runOpMode() {
 
-        // Connect to servo (Assume PushBot Left Hand)
+        // Connect to servo (Assume Robot Left Hand)
         // Change the text in quotes to match any servo name on your robot.
         servo = hardwareMap.get(Servo.class, "left_hand");
 

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

@@ -34,17 +34,15 @@ import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import java.io.File;
-
-/**
- * This file demonstrates how to play simple sounds on both the RC and DS phones.
+/*
+ * This OpMode demonstrates how to play simple sounds on both the RC and DS phones.
  * It illustrates how to build sounds into your application as a resource.
  * This technique is best suited for use with Android Studio since it assumes you will be creating a new application
  *
  * If you are using OnBotJava, please see the ConceptSoundsOnBotJava sample
  *
- * Use Android Studios 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
+ * 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
  *
  * Operation:
  *

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

@@ -33,10 +33,11 @@ import com.qualcomm.ftccommon.SoundPlayer;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
 import java.io.File;
 
-/**
- * This file demonstrates how to play simple sounds on both the RC and DS phones.
+/*
+ * This OpMode demonstrates how to play simple sounds on both the RC and DS phones.
  * It illustrates how to play sound files that have been copied to the RC Phone
  * This technique is best suited for use with OnBotJava since it does not require the app to be modified.
  *

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

@@ -30,19 +30,18 @@
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
 import android.content.Context;
-
 import com.qualcomm.ftccommon.SoundPlayer;
+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.eventloop.opmode.Disabled;
 
-/**
- * This file demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
+/*
+ * This OpMode demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
  * It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons.
  * This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing.
  *
- * Use Android Studios 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
+ * 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
  *
  * Operation:
  *      Use the DPAD to change the selected sound, and the Right Bumper to play it.

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

@@ -34,26 +34,25 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 import com.qualcomm.robotcore.util.ElapsedTime;
-
 import org.firstinspires.ftc.robotcore.external.Func;
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 
-/**
- * {@link ConceptTelemetry} illustrates various ways in which telemetry can be
+/*
+ * This OpMode illustrates various ways in which telemetry can be
  * transmitted from the robot controller to the driver station. The sample illustrates
  * numeric and text data, formatted output, and optimized evaluation of expensive-to-acquire
- * information. The telemetry {@link Telemetry#log() log} is illustrated by scrolling a poem
+ * information. The telemetry log is illustrated by scrolling a poem
  * to the driver station.
  *
- * @see Telemetry
+ * Also see the Telemetry javadocs.
  */
 @TeleOp(name = "Concept: Telemetry", group = "Concept")
 @Disabled
 public class ConceptTelemetry extends LinearOpMode  {
-    /** keeps track of the line of the poem which is to be emitted next */
+    /** Keeps track of the line of the poem which is to be emitted next */
     int poemLine = 0;
 
-    /** keeps track of how long it's been since we last emitted a line of poetry */
+    /** Keeps track of how long it's been since we last emitted a line of poetry */
     ElapsedTime poemElapsed = new ElapsedTime();
 
     static final String[] poem = new String[] {
@@ -94,10 +93,10 @@ public class ConceptTelemetry extends LinearOpMode  {
         // The interval between lines of poetry, in seconds
         double sPoemInterval = 0.6;
 
-        /**
+        /*
          * Wait until we've been given the ok to go. For something to do, we emit the
          * elapsed time as we sit here and wait. If we didn't want to do anything while
-         * we waited, we would just call {@link #waitForStart()}.
+         * we waited, we would just call waitForStart().
          */
         while (!isStarted()) {
             telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
@@ -107,10 +106,10 @@ public class ConceptTelemetry extends LinearOpMode  {
 
         // Ok, we've been given the ok to go
 
-        /**
+        /*
          * As an illustration, the first line on our telemetry display will display the battery voltage.
          * The idea here is that it's expensive to compute the voltage (at least for purposes of illustration)
-         * so you don't want to do it unless the data is <em>actually</em> going to make it to the
+         * so you don't want to do it unless the data is _actually_ going to make it to the
          * driver station (recall that telemetry transmission is throttled to reduce bandwidth use.
          * Note that getBatteryVoltage() below returns 'Infinity' if there's no voltage sensor attached.
          *
@@ -122,7 +121,7 @@ public class ConceptTelemetry extends LinearOpMode  {
             }
             });
 
-        // Reset to keep some timing stats for the post-'start' part of the opmode
+        // Reset to keep some timing stats for the post-'start' part of the OpMode
         opmodeRunTime.reset();
         int loopCount = 1;
 
@@ -146,13 +145,13 @@ public class ConceptTelemetry extends LinearOpMode  {
                     .addData("x", gamepad1.right_stick_x)
                     .addData("y", gamepad1.right_stick_y);
 
-            /**
+            /*
              * Transmit the telemetry to the driver station, subject to throttling.
-             * @see Telemetry#getMsTransmissionInterval()
+             * See the documentation for Telemetry.getMsTransmissionInterval() for more information.
              */
             telemetry.update();
 
-            /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
+            // Update loop info
             loopCount++;
         }
     }

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

@@ -29,146 +29,171 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
+import android.util.Size;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import java.util.List;
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection;
-import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.tfod.TfodProcessor;
 
-/**
- * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
- * determine the position of the Ultimate Goal game elements.
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of TensorFlow Object Detection,
+ * including Java Builder structures for specifying Vision parameters.
  *
  * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
  */
 @TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
 @Disabled
 public class ConceptTensorFlowObjectDetection extends LinearOpMode {
-    private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
-    private static final String LABEL_FIRST_ELEMENT = "Quad";
-    private static final String LABEL_SECOND_ELEMENT = "Single";
 
-    /*
-     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-     * web site at https://developer.vuforia.com/license-manager.
-     *
-     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-     * random data. As an example, here is a example of a fragment of a valid key:
-     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-     * Once you've obtained a license key, copy the string from the Vuforia web site
-     * and paste it in to your code on the next line, between the double quotes.
-     */
-    private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    // TFOD_MODEL_ASSET points to a model file stored in the project Asset location,
+    // this is only used for Android Studio when using models in Assets.
+    private static final String TFOD_MODEL_ASSET = "MyModelStoredAsAsset.tflite";
+    // TFOD_MODEL_FILE points to a model file stored onboard the Robot Controller's storage,
+    // this is used when uploading models directly to the RC using the model upload interface.
+    private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/myCustomModel.tflite";
+    // Define the labels recognized in the model for TFOD (must be in training order!)
+    private static final String[] LABELS = {
+       "Pixel",
+    };
 
     /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
+     * The variable to store our instance of the TensorFlow Object Detection processor.
      */
-    private VuforiaLocalizer vuforia;
+    private TfodProcessor tfod;
 
     /**
-     * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
-     * Detection engine.
+     * The variable to store our instance of the vision portal.
      */
-    private TFObjectDetector tfod;
+    private VisionPortal visionPortal;
 
     @Override
     public void runOpMode() {
-        // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
-        // first.
-        initVuforia();
+
         initTfod();
 
-        /**
-         * Activate TensorFlow Object Detection before we wait for the start command.
-         * Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
-         **/
-        if (tfod != null) {
-            tfod.activate();
-
-            // The TensorFlow software will scale the input images from the camera to a lower resolution.
-            // This can result in lower detection accuracy at longer distances (> 55cm or 22").
-            // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
-            // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
-            // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
-        }
-
-        /** Wait for the game to begin */
-        telemetry.addData(">", "Press Play to start op mode");
+        // 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.update();
         waitForStart();
 
         if (opModeIsActive()) {
             while (opModeIsActive()) {
-                if (tfod != null) {
-                    // getUpdatedRecognitions() will return null if no new information is available since
-                    // the last time that call was made.
-                    List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
-                    if (updatedRecognitions != null) {
-                      telemetry.addData("# Object Detected", updatedRecognitions.size());
 
-                      // step through the list of recognitions and display boundary info.
-                      int i = 0;
-                      for (Recognition recognition : updatedRecognitions) {
-                        telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
-                        telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
-                                          recognition.getLeft(), recognition.getTop());
-                        telemetry.addData(String.format("  right,bottom (%d)", i), "%.03f , %.03f",
-                                recognition.getRight(), recognition.getBottom());
-                      }
-                      telemetry.update();
-                    }
+                telemetryTfod();
+
+                // 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);
             }
         }
 
-        if (tfod != null) {
-            tfod.shutdown();
-        }
-    }
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end runOpMode()
 
     /**
-     * Initialize the Vuforia localization engine.
-     */
-    private void initVuforia() {
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         */
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        parameters.vuforiaLicenseKey = VUFORIA_KEY;
-        parameters.cameraDirection = CameraDirection.BACK;
-
-        //  Instantiate the Vuforia engine
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Loading trackables is not necessary for the TensorFlow Object Detection engine.
-    }
-
-    /**
-     * Initialize the TensorFlow Object Detection engine.
+     * Initialize the TensorFlow Object Detection processor.
      */
     private void initTfod() {
-        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
-            "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
-        tfodParameters.minResultConfidence = 0.8f;
-        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
-    }
-}
+
+        // Create the TensorFlow processor by using a builder.
+        tfod = new TfodProcessor.Builder()
+
+            // With the following lines commented out, the default TfodProcessor Builder
+            // will load the default model for the season. To define a custom model to load, 
+            // choose one of the following:
+            //   Use setModelAssetName() if the custom TF Model is built in as an asset (AS only).
+            //   Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
+            //.setModelAssetName(TFOD_MODEL_ASSET)
+            //.setModelFileName(TFOD_MODEL_FILE)
+
+            // The following default settings are available to un-comment and edit as needed to 
+            // set parameters for custom models.
+            //.setModelLabels(LABELS)
+            //.setIsModelTensorFlow2(true)
+            //.setIsModelQuantized(true)
+            //.setModelInputSize(300)
+            //.setModelAspectRatio(16.0 / 9.0)
+
+            .build();
+
+        // 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(tfod);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Set confidence threshold for TFOD recognitions, at any time.
+        //tfod.setMinResultConfidence(0.75f);
+
+        // Disable or re-enable the TFOD processor at any time.
+        //visionPortal.setProcessorEnabled(tfod, true);
+
+    }   // end method initTfod()
+
+    /**
+     * Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
+     */
+    private void telemetryTfod() {
+
+        List<Recognition> currentRecognitions = tfod.getRecognitions();
+        telemetry.addData("# Objects Detected", currentRecognitions.size());
+
+        // Step through the list of recognitions and display info for each one.
+        for (Recognition recognition : currentRecognitions) {
+            double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
+            double y = (recognition.getTop()  + recognition.getBottom()) / 2 ;
+
+            telemetry.addData(""," ");
+            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
+            telemetry.addData("- Position", "%.0f / %.0f", x, y);
+            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
+        }   // end for() loop
+
+    }   // end method telemetryTfod()
+
+}   // end class

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

@@ -0,0 +1,142 @@
+/* Copyright (c) 2019 FIRST. 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.tfod.Recognition;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.tfod.TfodProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of TensorFlow Object Detection, using
+ * the easiest way.
+ *
+ * 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: TensorFlow Object Detection Easy", group = "Concept")
+@Disabled
+public class ConceptTensorFlowObjectDetectionEasy extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * The variable to store our instance of the TensorFlow Object Detection processor.
+     */
+    private TfodProcessor tfod;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initTfod();
+
+        // 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.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            while (opModeIsActive()) {
+
+                telemetryTfod();
+
+                // 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 runOpMode()
+
+    /**
+     * Initialize the TensorFlow Object Detection processor.
+     */
+    private void initTfod() {
+
+        // Create the TensorFlow processor the easy way.
+        tfod = TfodProcessor.easyCreateWithDefaults();
+
+        // Create the vision portal the easy way.
+        if (USE_WEBCAM) {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
+        } else {
+            visionPortal = VisionPortal.easyCreateWithDefaults(
+                BuiltinCameraDirection.BACK, tfod);
+        }
+
+    }   // end method initTfod()
+
+    /**
+     * Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
+     */
+    private void telemetryTfod() {
+
+        List<Recognition> currentRecognitions = tfod.getRecognitions();
+        telemetry.addData("# Objects Detected", currentRecognitions.size());
+
+        // Step through the list of recognitions and display info for each one.
+        for (Recognition recognition : currentRecognitions) {
+            double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
+            double y = (recognition.getTop()  + recognition.getBottom()) / 2 ;
+
+            telemetry.addData(""," ");
+            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
+            telemetry.addData("- Position", "%.0f / %.0f", x, y);
+            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
+        }   // end for() loop
+
+    }   // end method telemetryTfod()
+
+}   // end class

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

@@ -32,178 +32,155 @@ 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 java.util.List;
 import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.SwitchableCamera;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
 import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.VisionPortal.CameraState;
+import org.firstinspires.ftc.vision.tfod.TfodProcessor;
 
-/**
- * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
- * determine the position of the Ultimate Goal game elements.
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of TensorFlow Object Detection, using
+ * two webcams.
  *
  * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
  */
 @TeleOp(name = "Concept: TensorFlow Object Detection Switchable Cameras", group = "Concept")
 @Disabled
 public class ConceptTensorFlowObjectDetectionSwitchableCameras extends LinearOpMode {
-    private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
-    private static final String LABEL_FIRST_ELEMENT = "Quad";
-    private static final String LABEL_SECOND_ELEMENT = "Single";
-
-    /*
-     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-     * web site at https://developer.vuforia.com/license-manager.
-     *
-     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-     * random data. As an example, here is a example of a fragment of a valid key:
-     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-     * Once you've obtained a license key, copy the string from the Vuforia web site
-     * and paste it in to your code on the next line, between the double quotes.
-     */
-    private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    private VuforiaLocalizer vuforia;
 
     /**
      * Variables used for switching cameras.
      */
     private WebcamName webcam1, webcam2;
-    private SwitchableCamera switchableCamera;
     private boolean oldLeftBumper;
     private boolean oldRightBumper;
 
     /**
-     * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
-     * Detection engine.
+     * The variable to store our instance of the TensorFlow Object Detection processor.
      */
-    private TFObjectDetector tfod;
+    private TfodProcessor tfod;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
 
     @Override
     public void runOpMode() {
-        // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
-        // first.
-        initVuforia();
+
         initTfod();
 
-        /**
-         * Activate TensorFlow Object Detection before we wait for the start command.
-         * Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
-         **/
-        if (tfod != null) {
-            tfod.activate();
-
-            // The TensorFlow software will scale the input images from the camera to a lower resolution.
-            // This can result in lower detection accuracy at longer distances (> 55cm or 22").
-            // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
-            // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
-            // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
-        }
-
-        /** Wait for the game to begin */
-        telemetry.addData(">", "Press Play to start op mode");
+        // 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.update();
         waitForStart();
 
         if (opModeIsActive()) {
             while (opModeIsActive()) {
-                if (tfod != null) {
-                    doCameraSwitching();
-                    List<Recognition> recognitions = tfod.getRecognitions();
-                    telemetry.addData("# Object Detected", recognitions.size());
-                    // step through the list of recognitions and display boundary info.
-                    int i = 0;
-                    for (Recognition recognition : recognitions) {
-                      telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
-                      telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
-                              recognition.getLeft(), recognition.getTop());
-                      telemetry.addData(String.format("  right,bottom (%d)", i), "%.03f , %.03f",
-                              recognition.getRight(), recognition.getBottom());
-                    }
-                    telemetry.update();
+
+                telemetryCameraSwitching();
+                telemetryTfod();
+
+                // 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();
                 }
+
+                doCameraSwitching();
+
+                // Share the CPU.
+                sleep(20);
             }
         }
 
-        if (tfod != null) {
-            tfod.shutdown();
-        }
-    }
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end runOpMode()
 
     /**
-     * Initialize the Vuforia localization engine.
-     */
-    private void initVuforia() {
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         */
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        parameters.vuforiaLicenseKey = VUFORIA_KEY;
-
-        // Indicate that we wish to be able to switch cameras.
-        webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
-        webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
-        parameters.cameraName = ClassFactory.getInstance().getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
-
-        //  Instantiate the Vuforia engine
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Set the active camera to Webcam 1.
-        switchableCamera = (SwitchableCamera) vuforia.getCamera();
-        switchableCamera.setActiveCamera(webcam1);
-
-        // Loading trackables is not necessary for the TensorFlow Object Detection engine.
-    }
-
-    /**
-     * Initialize the TensorFlow Object Detection engine.
+     * Initialize the TensorFlow Object Detection processor.
      */
     private void initTfod() {
-        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
-            "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
-        tfodParameters.minResultConfidence = 0.8f;
-        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
-    }
 
-    private void doCameraSwitching() {
-        // If the left bumper is pressed, use Webcam 1.
-        // If the right bumper is pressed, use Webcam 2.
-        boolean newLeftBumper = gamepad1.left_bumper;
-        boolean newRightBumper = gamepad1.right_bumper;
-        if (newLeftBumper && !oldLeftBumper) {
-            switchableCamera.setActiveCamera(webcam1);
-        } else if (newRightBumper && !oldRightBumper) {
-            switchableCamera.setActiveCamera(webcam2);
-        }
-        oldLeftBumper = newLeftBumper;
-        oldRightBumper = newRightBumper;
+        // Create the TensorFlow processor by using a builder.
+        tfod = new TfodProcessor.Builder().build();
 
-        if (switchableCamera.getActiveCamera().equals(webcam1)) {
+        webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
+        webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
+        CameraName switchableCamera = ClassFactory.getInstance()
+            .getCameraManager().nameForSwitchableCamera(webcam1, webcam2);
+
+        // Create the vision portal by using a builder.
+        visionPortal = new VisionPortal.Builder()
+            .setCamera(switchableCamera)
+            .addProcessor(tfod)
+            .build();
+
+    }   // end method initTfod()
+
+    /**
+     * Add telemetry about camera switching.
+     */
+    private void telemetryCameraSwitching() {
+        if (visionPortal.getActiveCamera().equals(webcam1)) {
             telemetry.addData("activeCamera", "Webcam 1");
             telemetry.addData("Press RightBumper", "to switch to Webcam 2");
         } else {
             telemetry.addData("activeCamera", "Webcam 2");
             telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
         }
-    }
-}
+    }   // end method telemetryCameraSwitching()
+
+    /**
+     * Add telemetry about TensorFlow Object Detection (TFOD) recognitions.
+     */
+    private void telemetryTfod() {
+
+        List<Recognition> currentRecognitions = tfod.getRecognitions();
+        telemetry.addData("# Objects Detected", currentRecognitions.size());
+
+        // Step through the list of recognitions and display info for each one.
+        for (Recognition recognition : currentRecognitions) {
+            double x = (recognition.getLeft() + recognition.getRight()) / 2 ;
+            double y = (recognition.getTop()  + recognition.getBottom()) / 2 ;
+
+            telemetry.addData(""," ");
+            telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
+            telemetry.addData("- Position", "%.0f / %.0f", x, y);
+            telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
+        }   // end for() loop
+
+    }   // end method telemetryTfod()
+
+    /**
+     * Set the active camera according to input from the gamepad.
+     */
+    private void doCameraSwitching() {
+        if (visionPortal.getCameraState() == CameraState.STREAMING) {
+            // If the left bumper is pressed, use Webcam 1.
+            // If the right bumper is pressed, use Webcam 2.
+            boolean newLeftBumper = gamepad1.left_bumper;
+            boolean newRightBumper = gamepad1.right_bumper;
+            if (newLeftBumper && !oldLeftBumper) {
+                visionPortal.setActiveCamera(webcam1);
+            } else if (newRightBumper && !oldRightBumper) {
+                visionPortal.setActiveCamera(webcam2);
+            }
+            oldLeftBumper = newLeftBumper;
+            oldRightBumper = newRightBumper;
+        }
+    }   // end method doCameraSwitching()
+
+}   // end class

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

@@ -1,173 +0,0 @@
-/* Copyright (c) 2019 FIRST. 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 java.util.List;
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
-import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
-
-/**
- * This 2020-2021 OpMode illustrates the basics of using the TensorFlow Object Detection API to
- * determine the position of the Ultimate Goal game elements.
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
- */
-@TeleOp(name = "Concept: TensorFlow Object Detection Webcam", group = "Concept")
-@Disabled
-public class ConceptTensorFlowObjectDetectionWebcam extends LinearOpMode {
-    private static final String TFOD_MODEL_ASSET = "UltimateGoal.tflite";
-    private static final String LABEL_FIRST_ELEMENT = "Quad";
-    private static final String LABEL_SECOND_ELEMENT = "Single";
-
-    /*
-     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-     * web site at https://developer.vuforia.com/license-manager.
-     *
-     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-     * random data. As an example, here is a example of a fragment of a valid key:
-     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-     * Once you've obtained a license key, copy the string from the Vuforia web site
-     * and paste it in to your code on the next line, between the double quotes.
-     */
-    private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    private VuforiaLocalizer vuforia;
-
-    /**
-     * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
-     * Detection engine.
-     */
-    private TFObjectDetector tfod;
-
-    @Override
-    public void runOpMode() {
-        // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
-        // first.
-        initVuforia();
-        initTfod();
-
-        /**
-         * Activate TensorFlow Object Detection before we wait for the start command.
-         * Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
-         **/
-        if (tfod != null) {
-            tfod.activate();
-
-            // The TensorFlow software will scale the input images from the camera to a lower resolution.
-            // This can result in lower detection accuracy at longer distances (> 55cm or 22").
-            // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
-            // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
-            // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
-        }
-
-        /** Wait for the game to begin */
-        telemetry.addData(">", "Press Play to start op mode");
-        telemetry.update();
-        waitForStart();
-
-        if (opModeIsActive()) {
-            while (opModeIsActive()) {
-                if (tfod != null) {
-                    // getUpdatedRecognitions() will return null if no new information is available since
-                    // the last time that call was made.
-                    List<Recognition> updatedRecognitions = tfod.getUpdatedRecognitions();
-                    if (updatedRecognitions != null) {
-                      telemetry.addData("# Object Detected", updatedRecognitions.size());
-                      // step through the list of recognitions and display boundary info.
-                      int i = 0;
-                      for (Recognition recognition : updatedRecognitions) {
-                        telemetry.addData(String.format("label (%d)", i), recognition.getLabel());
-                        telemetry.addData(String.format("  left,top (%d)", i), "%.03f , %.03f",
-                                recognition.getLeft(), recognition.getTop());
-                        telemetry.addData(String.format("  right,bottom (%d)", i), "%.03f , %.03f",
-                                recognition.getRight(), recognition.getBottom());
-                      }
-                      telemetry.update();
-                    }
-                }
-            }
-        }
-
-        if (tfod != null) {
-            tfod.shutdown();
-        }
-    }
-
-    /**
-     * Initialize the Vuforia localization engine.
-     */
-    private void initVuforia() {
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         */
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        parameters.vuforiaLicenseKey = VUFORIA_KEY;
-        parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
-
-        //  Instantiate the Vuforia engine
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Loading trackables is not necessary for the TensorFlow Object Detection engine.
-    }
-
-    /**
-     * Initialize the TensorFlow Object Detection engine.
-     */
-    private void initTfod() {
-        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
-            "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
-       tfodParameters.minResultConfidence = 0.8f;
-       tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-       tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
-    }
-}

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

@@ -1,186 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
-import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-
-/**
- * This OpMode illustrates the basics of using the Vuforia engine to determine
- * the identity of Vuforia VuMarks encountered on the field. The code is structured as
- * a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigation}; we do not here
- * duplicate the core Vuforia documentation found there, but rather instead focus on the
- * differences between the use of Vuforia for navigation vs VuMark identification.
- *
- * @see ConceptVuforiaNavigation
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained in {@link ConceptVuforiaNavigation}.
- */
-
-@TeleOp(name="Concept: VuMark Id", group ="Concept")
-@Disabled
-public class ConceptVuMarkIdentification extends LinearOpMode {
-
-    public static final String TAG = "Vuforia VuMark Sample";
-
-    OpenGLMatrix lastLocation = null;
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    VuforiaLocalizer vuforia;
-
-    @Override public void runOpMode() {
-
-        /*
-         * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // OR...  Do Not Activate the Camera Monitor View, to save power
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        /*
-         * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-         * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-         * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-         * web site at https://developer.vuforia.com/license-manager.
-         *
-         * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-         * random data. As an example, here is a example of a fragment of a valid key:
-         *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-         * Once you've obtained a license key, copy the string from the Vuforia web site
-         * and paste it in to your code on the next line, between the double quotes.
-         */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-        /*
-         * We also indicate which camera on the RC that we wish to use.
-         * Here we chose the back (HiRes) camera (for greater range), but
-         * for a competition robot, the front camera might be more convenient.
-         */
-        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
-
-        /**
-         * Instantiate the Vuforia engine
-         */
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-
-        /**
-         * Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
-         * in this data set: all three of the VuMarks in the game were created from this one template,
-         * but differ in their instance id information.
-         * @see VuMarkInstanceId
-         */
-        VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
-        VuforiaTrackable relicTemplate = relicTrackables.get(0);
-        relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
-
-        telemetry.addData(">", "Press Play to start");
-        telemetry.update();
-        waitForStart();
-
-        relicTrackables.activate();
-
-        while (opModeIsActive()) {
-
-            /**
-             * See if any of the instances of {@link relicTemplate} are currently visible.
-             * {@link RelicRecoveryVuMark} is an enum which can have the following values:
-             * UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
-             * UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
-             */
-            RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
-            if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
-
-                /* Found an instance of the template. In the actual game, you will probably
-                 * loop until this condition occurs, then move on to act accordingly depending
-                 * on which VuMark was visible. */
-                telemetry.addData("VuMark", "%s visible", vuMark);
-
-                /* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
-                 * it is perhaps unlikely that you will actually need to act on this pose information, but
-                 * we illustrate it nevertheless, for completeness. */
-                OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getPose();
-                telemetry.addData("Pose", format(pose));
-
-                /* We further illustrate how to decompose the pose into useful rotational and
-                 * translational components */
-                if (pose != null) {
-                    VectorF trans = pose.getTranslation();
-                    Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
-
-                    // Extract the X, Y, and Z components of the offset of the target relative to the robot
-                    double tX = trans.get(0);
-                    double tY = trans.get(1);
-                    double tZ = trans.get(2);
-
-                    // Extract the rotational components of the target relative to the robot
-                    double rX = rot.firstAngle;
-                    double rY = rot.secondAngle;
-                    double rZ = rot.thirdAngle;
-                }
-            }
-            else {
-                telemetry.addData("VuMark", "not visible");
-            }
-
-            telemetry.update();
-        }
-    }
-
-    String format(OpenGLMatrix transformationMatrix) {
-        return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
-    }
-}

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

@@ -1,194 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
-import org.firstinspires.ftc.robotcore.external.navigation.VuMarkInstanceId;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-
-/**
- * This OpMode illustrates the basics of using the Vuforia engine to determine
- * the identity of Vuforia VuMarks encountered on the field. The code is structured as
- * a LinearOpMode. It shares much structure with {@link ConceptVuforiaNavigationWebcam}; we do not here
- * duplicate the core Vuforia documentation found there, but rather instead focus on the
- * differences between the use of Vuforia for navigation vs VuMark identification.
- *
- * @see ConceptVuforiaNavigationWebcam
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained in {@link ConceptVuforiaNavigationWebcam}.
- */
-
-@TeleOp(name="Concept: VuMark Id Webcam", group ="Concept")
-@Disabled
-public class ConceptVuMarkIdentificationWebcam extends LinearOpMode {
-
-    public static final String TAG = "Vuforia VuMark Sample";
-
-    OpenGLMatrix lastLocation = null;
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    VuforiaLocalizer vuforia;
-
-    /**
-     * This is the webcam we are to use. As with other hardware devices such as motors and
-     * servos, this device is identified using the robot configuration tool in the FTC application.
-     */
-    WebcamName webcamName;
-
-    @Override public void runOpMode() {
-
-        /*
-         * Retrieve the camera we are to use.
-         */
-        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
-
-        /*
-         * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
-         * If no camera monitor is desired, use the parameterless constructor instead (commented out below).
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // OR...  Do Not Activate the Camera Monitor View, to save power
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        /*
-         * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-         * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-         * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-         * web site at https://developer.vuforia.com/license-manager.
-         *
-         * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-         * random data. As an example, here is a example of a fragment of a valid key:
-         *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-         * Once you've obtained a license key, copy the string from the Vuforia web site
-         * and paste it in to your code on the next line, between the double quotes.
-         */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-
-        /**
-         * We also indicate which camera on the RC we wish to use. For pedagogical purposes,
-         * we use the same logic as in {@link ConceptVuforiaNavigationWebcam}.
-         */
-        parameters.cameraName = webcamName;
-        this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        /**
-         * Load the data set containing the VuMarks for Relic Recovery. There's only one trackable
-         * in this data set: all three of the VuMarks in the game were created from this one template,
-         * but differ in their instance id information.
-         * @see VuMarkInstanceId
-         */
-        VuforiaTrackables relicTrackables = this.vuforia.loadTrackablesFromAsset("RelicVuMark");
-        VuforiaTrackable relicTemplate = relicTrackables.get(0);
-        relicTemplate.setName("relicVuMarkTemplate"); // can help in debugging; otherwise not necessary
-
-        telemetry.addData(">", "Press Play to start");
-        telemetry.update();
-        waitForStart();
-
-        relicTrackables.activate();
-
-        while (opModeIsActive()) {
-
-            /**
-             * See if any of the instances of {@link relicTemplate} are currently visible.
-             * {@link RelicRecoveryVuMark} is an enum which can have the following values:
-             * UNKNOWN, LEFT, CENTER, and RIGHT. When a VuMark is visible, something other than
-             * UNKNOWN will be returned by {@link RelicRecoveryVuMark#from(VuforiaTrackable)}.
-             */
-            RelicRecoveryVuMark vuMark = RelicRecoveryVuMark.from(relicTemplate);
-            if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
-
-                /* Found an instance of the template. In the actual game, you will probably
-                 * loop until this condition occurs, then move on to act accordingly depending
-                 * on which VuMark was visible. */
-                telemetry.addData("VuMark", "%s visible", vuMark);
-
-                /* For fun, we also exhibit the navigational pose. In the Relic Recovery game,
-                 * it is perhaps unlikely that you will actually need to act on this pose information, but
-                 * we illustrate it nevertheless, for completeness. */
-                OpenGLMatrix pose = ((VuforiaTrackableDefaultListener)relicTemplate.getListener()).getFtcCameraFromTarget();
-                telemetry.addData("Pose", format(pose));
-
-                /* We further illustrate how to decompose the pose into useful rotational and
-                 * translational components */
-                if (pose != null) {
-                    VectorF trans = pose.getTranslation();
-                    Orientation rot = Orientation.getOrientation(pose, AxesReference.EXTRINSIC, AxesOrder.XYZ, AngleUnit.DEGREES);
-
-                    // Extract the X, Y, and Z components of the offset of the target relative to the robot
-                    double tX = trans.get(0);
-                    double tY = trans.get(1);
-                    double tZ = trans.get(2);
-
-                    // Extract the rotational components of the target relative to the robot
-                    double rX = rot.firstAngle;
-                    double rY = rot.secondAngle;
-                    double rZ = rot.thirdAngle;
-                }
-            }
-            else {
-                telemetry.addData("VuMark", "not visible");
-            }
-
-            telemetry.update();
-        }
-    }
-
-    String format(OpenGLMatrix transformationMatrix) {
-        return (transformationMatrix != null) ? transformationMatrix.formatAsTransform() : "null";
-    }
-}

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

@@ -1,336 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.util.RobotLog;
-
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
- * positioning and orientation of robot on the FTC field.
- * The code is structured as a LinearOpMode
- *
- * Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
- *
- * When images are located, Vuforia is able to determine the position and orientation of the
- * image relative to the camera.  This sample code than combines that information with a
- * knowledge of where the target images are on the field, to determine the location of the camera.
- *
- * This example assumes a "diamond" field configuration where the red and blue alliance stations
- * are adjacent on the corner of the field furthest from the audience.
- * From the Audience perspective, the Red driver station is on the right.
- * The two vision target are located on the two walls closest to the audience, facing in.
- * The Stones are on the RED side of the field, and the Chips are on the Blue side.
- *
- * A final calculation then uses the location of the camera on the robot to determine the
- * robot's location and orientation on the field.
- *
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
- */
-
-@TeleOp(name="Concept: Vuforia Navigation", group ="Concept")
-@Disabled
-public class ConceptVuforiaNavigation extends LinearOpMode {
-
-    public static final String TAG = "Vuforia Navigation Sample";
-
-    OpenGLMatrix lastLocation = null;
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    VuforiaLocalizer vuforia;
-
-    @Override public void runOpMode() {
-        /*
-         * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
-         * If no camera monitor is desired, use the parameterless constructor instead (commented out below).
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // OR...  Do Not Activate the Camera Monitor View, to save power
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        /*
-         * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-         * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-         * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-         * web site at https://developer.vuforia.com/license-manager.
-         *
-         * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-         * random data. As an example, here is a example of a fragment of a valid key:
-         *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-         * Once you've obtained a license key, copy the string from the Vuforia web site
-         * and paste it in to your code on the next line, between the double quotes.
-         */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-        /*
-         * We also indicate which camera on the RC that we wish to use.
-         * Here we chose the back (HiRes) camera (for greater range), but
-         * for a competition robot, the front camera might be more convenient.
-         */
-        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
-
-        /**
-         * Instantiate the Vuforia engine
-         */
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        /**
-         * Load the data sets that for the trackable objects we wish to track. These particular data
-         * sets are stored in the 'assets' part of our application (you'll see them in the Android
-         * Studio 'Project' view over there on the left of the screen). You can make your own datasets
-         * with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
-         * example "StonesAndChips", datasets can be found in in this project in the
-         * documentation directory.
-         */
-        VuforiaTrackables stonesAndChips = this.vuforia.loadTrackablesFromAsset("StonesAndChips");
-        VuforiaTrackable redTarget = stonesAndChips.get(0);
-        redTarget.setName("RedTarget");  // Stones
-
-        VuforiaTrackable blueTarget  = stonesAndChips.get(1);
-        blueTarget.setName("BlueTarget");  // Chips
-
-        /** For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(stonesAndChips);
-
-        /**
-         * We use units of mm here because that's the recommended units of measurement for the
-         * size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
-         *      <ImageTarget name="stones" size="247 173"/>
-         * You don't *have to* use mm here, but the units here and the units used in the XML
-         * target configuration files *must* correspond for the math to work out correctly.
-         */
-        float mmPerInch        = 25.4f;
-        float mmBotWidth       = 18 * mmPerInch;            // ... or whatever is right for your robot
-        float mmFTCFieldWidth  = (12*12 - 2) * mmPerInch;   // the FTC field is ~11'10" center-to-center of the glass panels
-
-        /**
-         * In order for localization to work, we need to tell the system where each target we
-         * wish to use for navigation resides on the field, and we need to specify where on the robot
-         * the phone resides. These specifications are in the form of <em>transformation matrices.</em>
-         * Transformation matrices are a central, important concept in the math here involved in localization.
-         * See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
-         * for detailed information. Commonly, you'll encounter transformation matrices as instances
-         * of the {@link OpenGLMatrix} class.
-         *
-         * For the most part, you don't need to understand the details of the math of how transformation
-         * matrices work inside (as fascinating as that is, truly). Just remember these key points:
-         * <ol>
-         *
-         *     <li>You can put two transformations together to produce a third that combines the effect of
-         *     both of them. If, for example, you have a rotation transform R and a translation transform T,
-         *     then the combined transformation matrix RT which does the rotation first and then the translation
-         *     is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
-         *     <em>reverse</em> of the chronological order in which they applied.</li>
-         *
-         *     <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
-         *     class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
-         *     float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
-         *     {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
-         *     Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
-         *     float, float, float, float)}, are syntactic shorthands for creating a new transform and
-         *     then immediately multiplying the receiver by it, which can be convenient at times.</li>
-         *
-         *     <li>If you want to break open the black box of a transformation matrix to understand
-         *     what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
-         *     transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
-         *     AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
-         *     will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
-         *
-         * </ol>
-         *
-         * This example places the "stones" image on the perimeter wall to the Left
-         *  of the Red Driver station wall.  Similar to the Red Beacon Location on the Res-Q
-         *
-         * This example places the "chips" image on the perimeter wall to the Right
-         *  of the Blue Driver station.  Similar to the Blue Beacon Location on the Res-Q
-         *
-         * See the doc folder of this project for a description of the field Axis conventions.
-         *
-         * Initially the target is conceptually lying at the origin of the field's coordinate system
-         * (the center of the field), facing up.
-         *
-         * In this configuration, the target's coordinate system aligns with that of the field.
-         *
-         * In a real situation we'd also account for the vertical (Z) offset of the target,
-         * but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
-         *
-         * To place the Stones Target on the Red Audience wall:
-         * - First we rotate it 90 around the field's X axis to flip it upright
-         * - Then we rotate it  90 around the field's Z access to face it away from the audience.
-         * - Finally, we translate it back along the X axis towards the red audience wall.
-         */
-        OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
-                /* Then we translate the target off to the RED WALL. Our translation here
-                is a negative translation in X.*/
-                .translation(-mmFTCFieldWidth/2, 0, 0)
-                .multiplied(Orientation.getRotationMatrix(
-                        /* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
-                        AxesReference.EXTRINSIC, AxesOrder.XZX,
-                        AngleUnit.DEGREES, 90, 90, 0));
-        redTarget.setLocation(redTargetLocationOnField);
-        RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
-
-       /*
-        * To place the Stones Target on the Blue Audience wall:
-        * - First we rotate it 90 around the field's X axis to flip it upright
-        * - Finally, we translate it along the Y axis towards the blue audience wall.
-        */
-        OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
-                /* Then we translate the target off to the Blue Audience wall.
-                Our translation here is a positive translation in Y.*/
-                .translation(0, mmFTCFieldWidth/2, 0)
-                .multiplied(Orientation.getRotationMatrix(
-                        /* First, in the fixed (field) coordinate system, we rotate 90deg in X */
-                        AxesReference.EXTRINSIC, AxesOrder.XZX,
-                        AngleUnit.DEGREES, 90, 0, 0));
-        blueTarget.setLocation(blueTargetLocationOnField);
-        RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
-
-        /**
-         * Create a transformation matrix describing where the phone is on the robot. Here, we
-         * put the phone on the right hand side of the robot with the screen facing in (see our
-         * choice of BACK camera above) and in landscape mode. Starting from alignment between the
-         * robot's and phone's axes, this is a rotation of -90deg along the Y axis.
-         *
-         * When determining whether a rotation is positive or negative, consider yourself as looking
-         * down the (positive) axis of rotation from the positive towards the origin. Positive rotations
-         * are then CCW, and negative rotations CW. An example: consider looking down the positive Z
-         * axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
-         * plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
-         */
-        OpenGLMatrix phoneLocationOnRobot = OpenGLMatrix
-                .translation(mmBotWidth/2,0,0)
-                .multiplied(Orientation.getRotationMatrix(
-                        AxesReference.EXTRINSIC, AxesOrder.YZY,
-                        AngleUnit.DEGREES, -90, 0, 0));
-        RobotLog.ii(TAG, "phone=%s", format(phoneLocationOnRobot));
-
-        /**
-         * Let the trackable listeners we care about know where the phone is. We know that each
-         * listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
-         * we have not ourselves installed a listener of a different type.
-         */
-        ((VuforiaTrackableDefaultListener)redTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
-        ((VuforiaTrackableDefaultListener)blueTarget.getListener()).setPhoneInformation(phoneLocationOnRobot, parameters.cameraDirection);
-
-        /**
-         * A brief tutorial: here's how all the math is going to work:
-         *
-         * C = phoneLocationOnRobot  maps   phone coords -> robot coords
-         * P = tracker.getPose()     maps   image target coords -> phone coords
-         * L = redTargetLocationOnField maps   image target coords -> field coords
-         *
-         * So
-         *
-         * C.inverted()              maps   robot coords -> phone coords
-         * P.inverted()              maps   phone coords -> imageTarget coords
-         *
-         * Putting that all together,
-         *
-         * L x P.inverted() x C.inverted() maps robot coords to field coords.
-         *
-         * @see VuforiaTrackableDefaultListener#getRobotLocation()
-         */
-
-        /** Wait for the game to begin */
-        telemetry.addData(">", "Press Play to start tracking");
-        telemetry.update();
-        waitForStart();
-
-        /** Start tracking the data sets we care about. */
-        stonesAndChips.activate();
-
-        while (opModeIsActive()) {
-
-            for (VuforiaTrackable trackable : allTrackables) {
-                /**
-                 * getUpdatedRobotLocation() will return null if no new information is available since
-                 * the last time that call was made, or if the trackable is not currently visible.
-                 * getRobotLocation() will return null if the trackable is not currently visible.
-                 */
-                telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible");    //
-
-                OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
-                if (robotLocationTransform != null) {
-                    lastLocation = robotLocationTransform;
-                }
-            }
-            /**
-             * Provide feedback as to where the robot was last located (if we know).
-             */
-            if (lastLocation != null) {
-                //  RobotLog.vv(TAG, "robot=%s", format(lastLocation));
-                telemetry.addData("Pos", format(lastLocation));
-            } else {
-                telemetry.addData("Pos", "Unknown");
-            }
-            telemetry.update();
-        }
-    }
-
-    /**
-     * A simple utility that extracts positioning information from a transformation matrix
-     * and formats it in a form palatable to a human being.
-     */
-    String format(OpenGLMatrix transformationMatrix) {
-        return transformationMatrix.formatAsTransform();
-    }
-}

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

@@ -1,461 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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 android.graphics.Bitmap;
-
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.util.RobotLog;
-import com.qualcomm.robotcore.util.ThreadPool;
-import com.vuforia.Frame;
-
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.function.Consumer;
-import org.firstinspires.ftc.robotcore.external.function.Continuation;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.matrices.MatrixF;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
-
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Locale;
-
-/**
- * This 2016-2017 OpMode illustrates the basics of using the Vuforia localizer to determine
- * positioning and orientation of robot on the FTC field.
- * The code is structured as a LinearOpMode
- *
- * Vuforia uses the phone's camera to inspect it's surroundings, and attempt to locate target images.
- *
- * When images are located, Vuforia is able to determine the position and orientation of the
- * image relative to the camera.  This sample code than combines that information with a
- * knowledge of where the target images are on the field, to determine the location of the camera.
- *
- * This example assumes a "diamond" field configuration where the red and blue alliance stations
- * are adjacent on the corner of the field furthest from the audience.
- * From the Audience perspective, the Red driver station is on the right.
- * The two vision target are located on the two walls closest to the audience, facing in.
- * The Stones are on the RED side of the field, and the Chips are on the Blue side.
- *
- * A final calculation then uses the location of the camera on the robot to determine the
- * robot's location and orientation on the field.
- *
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ftc_app/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
- */
-
-@TeleOp(name="Concept: Vuforia Nav Webcam", group ="Concept")
-@Disabled
-public class ConceptVuforiaNavigationWebcam extends LinearOpMode {
-
-    public static final String TAG = "Vuforia Navigation Sample";
-
-    OpenGLMatrix lastLocation = null;
-
-    /**
-     * @see #captureFrameToFile()
-     */
-    int captureCounter = 0;
-    File captureDirectory = AppUtil.ROBOT_DATA_DIR;
-
-    /**
-     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
-     * localization engine.
-     */
-    VuforiaLocalizer vuforia;
-
-    /**
-     * This is the webcam we are to use. As with other hardware devices such as motors and
-     * servos, this device is identified using the robot configuration tool in the FTC application.
-     */
-    WebcamName webcamName;
-
-    @Override public void runOpMode() {
-
-        /*
-         * Retrieve the camera we are to use.
-         */
-        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
-
-        /*
-         * To start up Vuforia, tell it the view that we wish to use for camera monitor (on the RC phone);
-         * If no camera monitor is desired, use the parameterless constructor instead (commented out below).
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // OR...  Do Not Activate the Camera Monitor View, to save power
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        /*
-         * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-         * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-         * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-         * web site at https://developer.vuforia.com/license-manager.
-         *
-         * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-         * random data. As an example, here is a example of a fragment of a valid key:
-         *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-         * Once you've obtained a license key, copy the string from the Vuforia web site
-         * and paste it in to your code on the next line, between the double quotes.
-         */
-        parameters.vuforiaLicenseKey = " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-        /**
-         * We also indicate which camera on the RC we wish to use.
-         */
-        parameters.cameraName = webcamName;
-
-        /**
-         * Instantiate the Vuforia engine
-         */
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        /**
-         * Because this opmode processes frames in order to write them to a file, we tell Vuforia
-         * that we want to ensure that certain frame formats are available in the {@link Frame}s we
-         * see.
-         */
-        vuforia.enableConvertFrameToBitmap();
-
-        /** @see #captureFrameToFile() */
-        AppUtil.getInstance().ensureDirectoryExists(captureDirectory);
-
-
-        /**
-         * Load the data sets that for the trackable objects we wish to track. These particular data
-         * sets are stored in the 'assets' part of our application (you'll see them in the Android
-         * Studio 'Project' view over there on the left of the screen). You can make your own datasets
-         * with the Vuforia Target Manager: https://developer.vuforia.com/target-manager. PDFs for the
-         * example "StonesAndChips", datasets can be found in in this project in the
-         * documentation directory.
-         */
-        VuforiaTrackables stonesAndChips = vuforia.loadTrackablesFromAsset("StonesAndChips");
-        VuforiaTrackable redTarget = stonesAndChips.get(0);
-        redTarget.setName("RedTarget");  // Stones
-
-        VuforiaTrackable blueTarget  = stonesAndChips.get(1);
-        blueTarget.setName("BlueTarget");  // Chips
-
-        /** For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(stonesAndChips);
-
-        /**
-         * We use units of mm here because that's the recommended units of measurement for the
-         * size values specified in the XML for the ImageTarget trackables in data sets. E.g.:
-         *      <ImageTarget name="stones" size="247 173"/>
-         * You don't *have to* use mm here, but the units here and the units used in the XML
-         * target configuration files *must* correspond for the math to work out correctly.
-         */
-        float mmPerInch        = 25.4f;
-        float mmBotWidth       = 18 * mmPerInch;            // ... or whatever is right for your robot
-        float mmFTCFieldWidth  = (12*12 - 2) * mmPerInch;   // the FTC field is ~11'10" center-to-center of the glass panels
-
-        /**
-         * In order for localization to work, we need to tell the system where each target we
-         * wish to use for navigation resides on the field, and we need to specify where on the robot
-         * the camera resides. These specifications are in the form of <em>transformation matrices.</em>
-         * Transformation matrices are a central, important concept in the math here involved in localization.
-         * See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
-         * for detailed information. Commonly, you'll encounter transformation matrices as instances
-         * of the {@link OpenGLMatrix} class.
-         *
-         * For the most part, you don't need to understand the details of the math of how transformation
-         * matrices work inside (as fascinating as that is, truly). Just remember these key points:
-         * <ol>
-         *
-         *     <li>You can put two transformations together to produce a third that combines the effect of
-         *     both of them. If, for example, you have a rotation transform R and a translation transform T,
-         *     then the combined transformation matrix RT which does the rotation first and then the translation
-         *     is given by {@code RT = T.multiplied(R)}. That is, the transforms are multiplied in the
-         *     <em>reverse</em> of the chronological order in which they applied.</li>
-         *
-         *     <li>A common way to create useful transforms is to use methods in the {@link OpenGLMatrix}
-         *     class and the Orientation class. See, for example, {@link OpenGLMatrix#translation(float,
-         *     float, float)}, {@link OpenGLMatrix#rotation(AngleUnit, float, float, float, float)}, and
-         *     {@link Orientation#getRotationMatrix(AxesReference, AxesOrder, AngleUnit, float, float, float)}.
-         *     Related methods in {@link OpenGLMatrix}, such as {@link OpenGLMatrix#rotated(AngleUnit,
-         *     float, float, float, float)}, are syntactic shorthands for creating a new transform and
-         *     then immediately multiplying the receiver by it, which can be convenient at times.</li>
-         *
-         *     <li>If you want to break open the black box of a transformation matrix to understand
-         *     what it's doing inside, use {@link MatrixF#getTranslation()} to fetch how much the
-         *     transform will move you in x, y, and z, and use {@link Orientation#getOrientation(MatrixF,
-         *     AxesReference, AxesOrder, AngleUnit)} to determine the rotational motion that the transform
-         *     will impart. See {@link #format(OpenGLMatrix)} below for an example.</li>
-         *
-         * </ol>
-         *
-         * This example places the "stones" image on the perimeter wall to the Left
-         *  of the Red Driver station wall.  Similar to the Red Beacon Location on the Res-Q
-         *
-         * This example places the "chips" image on the perimeter wall to the Right
-         *  of the Blue Driver station.  Similar to the Blue Beacon Location on the Res-Q
-         *
-         * See the doc folder of this project for a description of the Field Coordinate System
-         * conventions.
-         *
-         * Initially the target is conceptually lying at the origin of the Field Coordinate System
-         * (the center of the field), facing up.
-         *
-         * In this configuration, the target's coordinate system aligns with that of the field.
-         *
-         * In a real situation we'd also account for the vertical (Z) offset of the target,
-         * but for simplicity, we ignore that here; for a real robot, you'll want to fix that.
-         *
-         * To place the Stones Target on the Red Audience wall:
-         * - First we rotate it 90 around the field's X axis to flip it upright
-         * - Then we rotate it  90 around the field's Z access to face it away from the audience.
-         * - Finally, we translate it back along the X axis towards the red audience wall.
-         */
-        OpenGLMatrix redTargetLocationOnField = OpenGLMatrix
-                /* Then we translate the target off to the RED WALL. Our translation here
-                is a negative translation in X.*/
-                .translation(-mmFTCFieldWidth/2, 0, 0)
-                .multiplied(Orientation.getRotationMatrix(
-                        /* First, in the fixed (field) coordinate system, we rotate 90deg in X, then 90 in Z */
-                        AxesReference.EXTRINSIC, AxesOrder.XZX,
-                        AngleUnit.DEGREES, 90, 90, 0));
-        redTarget.setLocationFtcFieldFromTarget(redTargetLocationOnField);
-        RobotLog.ii(TAG, "Red Target=%s", format(redTargetLocationOnField));
-
-       /*
-        * To place the Stones Target on the Blue Audience wall:
-        * - First we rotate it 90 around the field's X axis to flip it upright
-        * - Finally, we translate it along the Y axis towards the blue audience wall.
-        */
-        OpenGLMatrix blueTargetLocationOnField = OpenGLMatrix
-                /* Then we translate the target off to the Blue Audience wall.
-                Our translation here is a positive translation in Y.*/
-                .translation(0, mmFTCFieldWidth/2, 0)
-                .multiplied(Orientation.getRotationMatrix(
-                        /* First, in the fixed (field) coordinate system, we rotate 90deg in X */
-                        AxesReference.EXTRINSIC, AxesOrder.XZX,
-                        AngleUnit.DEGREES, 90, 0, 0));
-        blueTarget.setLocationFtcFieldFromTarget(blueTargetLocationOnField);
-        RobotLog.ii(TAG, "Blue Target=%s", format(blueTargetLocationOnField));
-
-        /**
-         * We also need to tell Vuforia where the <em>cameras</em> are relative to the robot.
-         *
-         * Just as there is a Field Coordinate System, so too there is a Robot Coordinate System.
-         * The two share many similarities. The origin of the Robot Coordinate System is wherever
-         * you choose to make it on the robot, but typically you'd choose somewhere in the middle
-         * of the robot. From that origin, the Y axis is horizontal and positive out towards the
-         * "front" of the robot (however you choose "front" to be defined), the X axis is horizontal
-         * and positive out towards the "right" of the robot (i.e.: 90deg horizontally clockwise from
-         * the positive Y axis), and the Z axis is vertical towards the sky.
-         *
-         * Similarly, for each camera there is a Camera Coordinate System. The origin of a Camera
-         * Coordinate System lies in the middle of the sensor inside of the camera. The Z axis is
-         * positive coming out of the lens of the camera in a direction perpendicular to the plane
-         * of the sensor. When looking at the face of the lens of the camera (down the positive Z
-         * axis), the X axis is positive off to the right in the plane of the sensor, and the Y axis
-         * is positive out the top of the lens in the plane of the sensor at 90 horizontally
-         * counter clockwise from the X axis.
-         *
-         * Next, there is Phone Coordinate System (for robots that have phones, of course), though
-         * with the advent of Vuforia support for Webcams, this coordinate system is less significant
-         * than it was previously. The Phone Coordinate System is defined thusly: with the phone in
-         * flat front of you in portrait mode (i.e. as it is when running the robot controller app)
-         * and you are staring straight at the face of the phone,
-         *     * X is positive heading off to your right,
-         *     * Y is positive heading up through the top edge of the phone, and
-         *     * Z is pointing out of the screen, toward you.
-         * The origin of the Phone Coordinate System is at the origin of the Camera Coordinate System
-         * of the front-facing camera on the phone.
-         *
-         * Finally, it is worth noting that trackable Vuforia Image Targets have their <em>own</em>
-         * coordinate system (see {@link VuforiaTrackable}. This is sometimes referred to as the
-         * Target Coordinate System. In keeping with the above, when looking at the target in its
-         * natural orientation, in the Target Coodinate System
-         *     * X is positive heading off to your right,
-         *     * Y is positive heading up through the top edge of the target, and
-         *     * Z is pointing out of the target, toward you.
-         *
-         * One can observe that the Camera Coordinate System of the front-facing camera on a phone
-         * coincides with the Phone Coordinate System. Further, when a phone is placed on its back
-         * at the origin of the Robot Coordinate System and aligned appropriately, those coordinate
-         * systems also coincide with the Robot Coordinate System. Got it?
-         *
-         * In this example here, we're going to assume that we put the camera on the right side
-         * of the robot (facing outwards, of course). To determine the transformation matrix that
-         * describes that location, first consider the camera as lying on its back at the origin
-         * of the Robot Coordinate System such that the Camera Coordinate System and Robot Coordinate
-         * System coincide. Then the transformation we need is
-         *      * first a rotation of the camera by +90deg along the robot X axis,
-         *      * then a rotation of the camera by +90deg along the robot Z axis, and
-         *      * finally a translation of the camera to the side of the robot.
-         *
-         * When determining whether a rotation is positive or negative, consider yourself as looking
-         * down the (positive) axis of rotation from the positive towards the origin. Positive rotations
-         * are then CCW, and negative rotations CW. An example: consider looking down the positive Z
-         * axis towards the origin. A positive rotation about Z (ie: a rotation parallel to the the X-Y
-         * plane) is then CCW, as one would normally expect from the usual classic 2D geometry.
-         */
-
-        OpenGLMatrix robotFromCamera = OpenGLMatrix
-                .translation(mmBotWidth/2,0,0)
-                .multiplied(Orientation.getRotationMatrix(
-                        AxesReference.EXTRINSIC, AxesOrder.XZY,
-                        AngleUnit.DEGREES, 90, 90, 0));
-        RobotLog.ii(TAG, "camera=%s", format(robotFromCamera));
-
-        /**
-         * Let the trackable listeners we care about know where the camera is. We know that each
-         * listener is a {@link VuforiaTrackableDefaultListener} and can so safely cast because
-         * we have not ourselves installed a listener of a different type.
-         */
-        ((VuforiaTrackableDefaultListener)redTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
-        ((VuforiaTrackableDefaultListener)blueTarget.getListener()).setCameraLocationOnRobot(parameters.cameraName, robotFromCamera);
-
-        /**
-         * A brief tutorial: here's how all the math is going to work:
-         *
-         * C = robotFromCamera          maps   camera coords -> robot coords
-         * P = tracker.getPose()        maps   image target coords -> camera coords
-         * L = redTargetLocationOnField maps   image target coords -> field coords
-         *
-         * So
-         *
-         * C.inverted()                 maps   robot coords -> camera coords
-         * P.inverted()                 maps   camera coords -> imageTarget coords
-         *
-         * Putting that all together,
-         *
-         * L x P.inverted() x C.inverted() maps robot coords to field coords.
-         *
-         * @see VuforiaTrackableDefaultListener#getRobotLocation()
-         */
-
-        /** Wait for the game to begin */
-        telemetry.addData(">", "Press Play to start tracking");
-        telemetry.update();
-        waitForStart();
-
-        /** Start tracking the data sets we care about. */
-        stonesAndChips.activate();
-
-        boolean buttonPressed = false;
-        while (opModeIsActive()) {
-
-            if (gamepad1.a && !buttonPressed) {
-                captureFrameToFile();
-                }
-            buttonPressed = gamepad1.a;
-
-            for (VuforiaTrackable trackable : allTrackables) {
-                /**
-                 * getUpdatedRobotLocation() will return null if no new information is available since
-                 * the last time that call was made, or if the trackable is not currently visible.
-                 * getRobotLocation() will return null if the trackable is not currently visible.
-                 */
-                telemetry.addData(trackable.getName(), ((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible() ? "Visible" : "Not Visible");    //
-
-                OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
-                if (robotLocationTransform != null) {
-                    lastLocation = robotLocationTransform;
-                }
-            }
-            /**
-             * Provide feedback as to where the robot was last located (if we know).
-             */
-            if (lastLocation != null) {
-                //  RobotLog.vv(TAG, "robot=%s", format(lastLocation));
-                telemetry.addData("Pos", format(lastLocation));
-            } else {
-                telemetry.addData("Pos", "Unknown");
-            }
-            telemetry.update();
-        }
-    }
-
-    /**
-     * A simple utility that extracts positioning information from a transformation matrix
-     * and formats it in a form palatable to a human being.
-     */
-    String format(OpenGLMatrix transformationMatrix) {
-        return transformationMatrix.formatAsTransform();
-    }
-
-    /**
-     * Sample one frame from the Vuforia stream and write it to a .PNG image file on the robot
-     * controller in the /sdcard/FIRST/data directory. The images can be downloaded using Android
-     * Studio's Device File Explorer, ADB, or the Media Transfer Protocol (MTP) integration into
-     * Windows Explorer, among other means. The images can be useful during robot design and calibration
-     * in order to get a sense of what the camera is actually seeing and so assist in camera
-     * aiming and alignment.
-     */
-    void captureFrameToFile() {
-        vuforia.getFrameOnce(Continuation.create(ThreadPool.getDefault(), new Consumer<Frame>()
-            {
-            @Override public void accept(Frame frame)
-                {
-                Bitmap bitmap = vuforia.convertFrameToBitmap(frame);
-                if (bitmap != null) {
-                    File file = new File(captureDirectory, String.format(Locale.getDefault(), "VuforiaFrame-%d.png", captureCounter++));
-                    try {
-                        FileOutputStream outputStream = new FileOutputStream(file);
-                        try {
-                            bitmap.compress(Bitmap.CompressFormat.PNG, 100, outputStream);
-                        } finally {
-                            outputStream.close();
-                            telemetry.log().add("captured %s", file.getName());
-                        }
-                    } catch (IOException e) {
-                        RobotLog.ee(TAG, e, "exception in captureFrameToFile()");
-                    }
-                }
-            }
-        }));
-    }
-}

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

@@ -1,301 +0,0 @@
-/* Copyright (c) 2019 FIRST. 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.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
-import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
-
-/**
- * This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
- * positioning and orientation of robot on the ULTIMATE GOAL FTC field.
- * The code is structured as a LinearOpMode
- *
- * When images are located, Vuforia is able to determine the position and orientation of the
- * image relative to the camera.  This sample code then combines that information with a
- * knowledge of where the target images are on the field, to determine the location of the camera.
- *
- * From the Audience perspective, the Red Alliance station is on the right and the
- * Blue Alliance Station is on the left.
-
- * There are a total of five image targets for the ULTIMATE GOAL game.
- * Three of the targets are placed in the center of the Red Alliance, Audience (Front),
- * and Blue Alliance perimeter walls.
- * Two additional targets are placed on the perimeter wall, one in front of each Tower Goal.
- * Refer to the Field Setup manual for more specific location details
- *
- * A final calculation then uses the location of the camera on the robot to determine the
- * robot's location and orientation on the field.
- *
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ultimategoal/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
- */
-
-
-@TeleOp(name="ULTIMATEGOAL Vuforia Nav", group ="Concept")
-@Disabled
-public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {
-
-    // IMPORTANT:  For Phone Camera, set 1) the camera source and 2) the orientation, based on how your phone is mounted:
-    // 1) Camera Source.  Valid choices are:  BACK (behind screen) or FRONT (selfie side)
-    // 2) Phone Orientation. Choices are: PHONE_IS_PORTRAIT = true (portrait) or PHONE_IS_PORTRAIT = false (landscape)
-    //
-    // NOTE: If you are running on a CONTROL HUB, with only one USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
-    //
-    private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
-    private static final boolean PHONE_IS_PORTRAIT = false  ;
-
-    /*
-     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-     * web site at https://developer.vuforia.com/license-manager.
-     *
-     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-     * random data. As an example, here is a example of a fragment of a valid key:
-     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-     * Once you've obtained a license key, copy the string from the Vuforia web site
-     * and paste it in to your code on the next line, between the double quotes.
-     */
-    private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-    // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension.
-    // We will define some constants and conversions here
-    private static final float mmPerInch        = 25.4f;
-    private static final float mmTargetHeight   = (6) * mmPerInch;          // the height of the center of the target image above the floor
-
-    // Constants for perimeter targets
-    private static final float halfField = 72 * mmPerInch;
-    private static final float quadField  = 36 * mmPerInch;
-
-    // Class Members
-    private OpenGLMatrix lastLocation = null;
-    private VuforiaLocalizer vuforia = null;
-    private boolean targetVisible = false;
-    private float phoneXRotate    = 0;
-    private float phoneYRotate    = 0;
-    private float phoneZRotate    = 0;
-
-    @Override public void runOpMode() {
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         * We can pass Vuforia the handle to a camera preview resource (on the RC phone);
-         * If no camera monitor is desired, use the parameter-less constructor instead (commented out below).
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        parameters.vuforiaLicenseKey = VUFORIA_KEY;
-        parameters.cameraDirection   = CAMERA_CHOICE;
-
-        // Make sure extended tracking is disabled for this example.
-        parameters.useExtendedTracking = false;
-
-        //  Instantiate the Vuforia engine
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Load the data sets for the trackable objects. These particular data
-        // sets are stored in the 'assets' part of our application.
-        VuforiaTrackables targetsUltimateGoal = this.vuforia.loadTrackablesFromAsset("UltimateGoal");
-        VuforiaTrackable blueTowerGoalTarget = targetsUltimateGoal.get(0);
-        blueTowerGoalTarget.setName("Blue Tower Goal Target");
-        VuforiaTrackable redTowerGoalTarget = targetsUltimateGoal.get(1);
-        redTowerGoalTarget.setName("Red Tower Goal Target");
-        VuforiaTrackable redAllianceTarget = targetsUltimateGoal.get(2);
-        redAllianceTarget.setName("Red Alliance Target");
-        VuforiaTrackable blueAllianceTarget = targetsUltimateGoal.get(3);
-        blueAllianceTarget.setName("Blue Alliance Target");
-        VuforiaTrackable frontWallTarget = targetsUltimateGoal.get(4);
-        frontWallTarget.setName("Front Wall Target");
-
-        // For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(targetsUltimateGoal);
-
-        /**
-         * In order for localization to work, we need to tell the system where each target is on the field, and
-         * where the phone resides on the robot.  These specifications are in the form of <em>transformation matrices.</em>
-         * Transformation matrices are a central, important concept in the math here involved in localization.
-         * See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
-         * for detailed information. Commonly, you'll encounter transformation matrices as instances
-         * of the {@link OpenGLMatrix} class.
-         *
-         * If you are standing in the Red Alliance Station looking towards the center of the field,
-         *     - The X axis runs from your left to the right. (positive from the center to the right)
-         *     - The Y axis runs from the Red Alliance Station towards the other side of the field
-         *       where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station)
-         *     - The Z axis runs from the floor, upwards towards the ceiling.  (Positive is above the floor)
-         *
-         * Before being transformed, each target image is conceptually located at the origin of the field's
-         *  coordinate system (the center of the field), facing up.
-         */
-
-        //Set the position of the perimeter targets with relation to origin (center of field)
-        redAllianceTarget.setLocation(OpenGLMatrix
-                .translation(0, -halfField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 180)));
-
-        blueAllianceTarget.setLocation(OpenGLMatrix
-                .translation(0, halfField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
-        frontWallTarget.setLocation(OpenGLMatrix
-                .translation(-halfField, 0, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , 90)));
-
-        // The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
-        blueTowerGoalTarget.setLocation(OpenGLMatrix
-                .translation(halfField, quadField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , -90)));
-        redTowerGoalTarget.setLocation(OpenGLMatrix
-                .translation(halfField, -quadField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
-
-        //
-        // Create a transformation matrix describing where the phone is on the robot.
-        //
-        // NOTE !!!!  It's very important that you turn OFF your phone's Auto-Screen-Rotation option.
-        // Lock it into Portrait for these numbers to work.
-        //
-        // Info:  The coordinate frame for the robot looks the same as the field.
-        // The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
-        // Z is UP on the robot.  This equates to a bearing angle of Zero degrees.
-        //
-        // The phone starts out lying flat, with the screen facing Up and with the physical top of the phone
-        // pointing to the LEFT side of the Robot.
-        // The two examples below assume that the camera is facing forward out the front of the robot.
-
-        // We need to rotate the camera around it's long axis to bring the correct camera forward.
-        if (CAMERA_CHOICE == BACK) {
-            phoneYRotate = -90;
-        } else {
-            phoneYRotate = 90;
-        }
-
-        // Rotate the phone vertical about the X axis if it's in portrait mode
-        if (PHONE_IS_PORTRAIT) {
-            phoneXRotate = 90 ;
-        }
-
-        // Next, translate the camera lens to where it is on the robot.
-        // In this example, it is centered (left to right), but forward of the middle of the robot, and above ground level.
-        final float CAMERA_FORWARD_DISPLACEMENT  = 4.0f * mmPerInch;   // eg: Camera is 4 Inches in front of robot center
-        final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch;   // eg: Camera is 8 Inches above ground
-        final float CAMERA_LEFT_DISPLACEMENT     = 0;     // eg: Camera is ON the robot's center line
-
-        OpenGLMatrix robotFromCamera = OpenGLMatrix
-                    .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
-                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate));
-
-        /**  Let all the trackable listeners know where the phone is.  */
-        for (VuforiaTrackable trackable : allTrackables) {
-            ((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection);
-        }
-
-        // WARNING:
-        // In this sample, we do not wait for PLAY to be pressed.  Target Tracking is started immediately when INIT is pressed.
-        // This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample.
-        // CONSEQUENTLY do not put any driving commands in this loop.
-        // To restore the normal opmode structure, just un-comment the following line:
-
-        // waitForStart();
-
-        // Note: To use the remote camera preview:
-        // AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream"
-        // Tap the preview window to receive a fresh image.
-
-        targetsUltimateGoal.activate();
-        while (!isStopRequested()) {
-
-            // check all the trackable targets to see which one (if any) is visible.
-            targetVisible = false;
-            for (VuforiaTrackable trackable : allTrackables) {
-                if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) {
-                    telemetry.addData("Visible Target", trackable.getName());
-                    targetVisible = true;
-
-                    // getUpdatedRobotLocation() will return null if no new information is available since
-                    // the last time that call was made, or if the trackable is not currently visible.
-                    OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
-                    if (robotLocationTransform != null) {
-                        lastLocation = robotLocationTransform;
-                    }
-                    break;
-                }
-            }
-
-            // Provide feedback as to where the robot is located (if we know).
-            if (targetVisible) {
-                // express position (translation) of robot in inches.
-                VectorF translation = lastLocation.getTranslation();
-                telemetry.addData("Pos (in)", "{X, Y, Z} = %.1f, %.1f, %.1f",
-                        translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch);
-
-                // express the rotation of the robot in degrees.
-                Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES);
-                telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle);
-            }
-            else {
-                telemetry.addData("Visible Target", "none");
-            }
-            telemetry.update();
-        }
-
-        // Disable Tracking when we are done;
-        targetsUltimateGoal.deactivate();
-    }
-}

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

@@ -1,313 +0,0 @@
-/* Copyright (c) 2019 FIRST. 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.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
-import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
-import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
-import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
-
-/**
- * This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
- * positioning and orientation of robot on the ULTIMATE GOAL FTC field.
- * The code is structured as a LinearOpMode
- *
- * When images are located, Vuforia is able to determine the position and orientation of the
- * image relative to the camera.  This sample code then combines that information with a
- * knowledge of where the target images are on the field, to determine the location of the camera.
- *
- * From the Audience perspective, the Red Alliance station is on the right and the
- * Blue Alliance Station is on the left.
-
- * There are a total of five image targets for the ULTIMATE GOAL game.
- * Three of the targets are placed in the center of the Red Alliance, Audience (Front),
- * and Blue Alliance perimeter walls.
- * Two additional targets are placed on the perimeter wall, one in front of each Tower Goal.
- * Refer to the Field Setup manual for more specific location details
- *
- * A final calculation then uses the location of the camera on the robot to determine the
- * robot's location and orientation on the field.
- *
- * @see VuforiaLocalizer
- * @see VuforiaTrackableDefaultListener
- * see  ultimategoal/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
- *
- * 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.
- *
- * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
- * is explained below.
- */
-
-
-@TeleOp(name="ULTIMATEGOAL Vuforia Nav Webcam", group ="Concept")
-@Disabled
-public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
-
-    // IMPORTANT: If you are using a USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
-    private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
-    private static final boolean PHONE_IS_PORTRAIT = false  ;
-
-    /*
-     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
-     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
-     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
-     * web site at https://developer.vuforia.com/license-manager.
-     *
-     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
-     * random data. As an example, here is a example of a fragment of a valid key:
-     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
-     * Once you've obtained a license key, copy the string from the Vuforia web site
-     * and paste it in to your code on the next line, between the double quotes.
-     */
-    private static final String VUFORIA_KEY =
-            " --- YOUR NEW VUFORIA KEY GOES HERE  --- ";
-
-    // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension.
-    // We will define some constants and conversions here
-    private static final float mmPerInch        = 25.4f;
-    private static final float mmTargetHeight   = (6) * mmPerInch;          // the height of the center of the target image above the floor
-
-    // Constants for perimeter targets
-    private static final float halfField = 72 * mmPerInch;
-    private static final float quadField  = 36 * mmPerInch;
-
-    // Class Members
-    private OpenGLMatrix lastLocation = null;
-    private VuforiaLocalizer vuforia = null;
-
-    /**
-     * This is the webcam we are to use. As with other hardware devices such as motors and
-     * servos, this device is identified using the robot configuration tool in the FTC application.
-     */
-    WebcamName webcamName = null;
-
-    private boolean targetVisible = false;
-    private float phoneXRotate    = 0;
-    private float phoneYRotate    = 0;
-    private float phoneZRotate    = 0;
-
-    @Override public void runOpMode() {
-        /*
-         * Retrieve the camera we are to use.
-         */
-        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
-
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         * We can pass Vuforia the handle to a camera preview resource (on the RC phone);
-         * If no camera monitor is desired, use the parameter-less constructor instead (commented out below).
-         */
-        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
-
-        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
-
-        parameters.vuforiaLicenseKey = VUFORIA_KEY;
-
-        /**
-         * We also indicate which camera on the RC we wish to use.
-         */
-        parameters.cameraName = webcamName;
-
-        // Make sure extended tracking is disabled for this example.
-        parameters.useExtendedTracking = false;
-
-        //  Instantiate the Vuforia engine
-        vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Load the data sets for the trackable objects. These particular data
-        // sets are stored in the 'assets' part of our application.
-        VuforiaTrackables targetsUltimateGoal = this.vuforia.loadTrackablesFromAsset("UltimateGoal");
-        VuforiaTrackable blueTowerGoalTarget = targetsUltimateGoal.get(0);
-        blueTowerGoalTarget.setName("Blue Tower Goal Target");
-        VuforiaTrackable redTowerGoalTarget = targetsUltimateGoal.get(1);
-        redTowerGoalTarget.setName("Red Tower Goal Target");
-        VuforiaTrackable redAllianceTarget = targetsUltimateGoal.get(2);
-        redAllianceTarget.setName("Red Alliance Target");
-        VuforiaTrackable blueAllianceTarget = targetsUltimateGoal.get(3);
-        blueAllianceTarget.setName("Blue Alliance Target");
-        VuforiaTrackable frontWallTarget = targetsUltimateGoal.get(4);
-        frontWallTarget.setName("Front Wall Target");
-
-        // For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(targetsUltimateGoal);
-
-        /**
-         * In order for localization to work, we need to tell the system where each target is on the field, and
-         * where the phone resides on the robot.  These specifications are in the form of <em>transformation matrices.</em>
-         * Transformation matrices are a central, important concept in the math here involved in localization.
-         * See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
-         * for detailed information. Commonly, you'll encounter transformation matrices as instances
-         * of the {@link OpenGLMatrix} class.
-         *
-         * If you are standing in the Red Alliance Station looking towards the center of the field,
-         *     - The X axis runs from your left to the right. (positive from the center to the right)
-         *     - The Y axis runs from the Red Alliance Station towards the other side of the field
-         *       where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station)
-         *     - The Z axis runs from the floor, upwards towards the ceiling.  (Positive is above the floor)
-         *
-         * Before being transformed, each target image is conceptually located at the origin of the field's
-         *  coordinate system (the center of the field), facing up.
-         */
-
-        //Set the position of the perimeter targets with relation to origin (center of field)
-        redAllianceTarget.setLocation(OpenGLMatrix
-                .translation(0, -halfField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 180)));
-
-        blueAllianceTarget.setLocation(OpenGLMatrix
-                .translation(0, halfField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
-        frontWallTarget.setLocation(OpenGLMatrix
-                .translation(-halfField, 0, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , 90)));
-
-        // The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
-        blueTowerGoalTarget.setLocation(OpenGLMatrix
-                .translation(halfField, quadField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , -90)));
-        redTowerGoalTarget.setLocation(OpenGLMatrix
-                .translation(halfField, -quadField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
-
-        //
-        // Create a transformation matrix describing where the phone is on the robot.
-        //
-        // NOTE !!!!  It's very important that you turn OFF your phone's Auto-Screen-Rotation option.
-        // Lock it into Portrait for these numbers to work.
-        //
-        // Info:  The coordinate frame for the robot looks the same as the field.
-        // The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
-        // Z is UP on the robot.  This equates to a bearing angle of Zero degrees.
-        //
-        // The phone starts out lying flat, with the screen facing Up and with the physical top of the phone
-        // pointing to the LEFT side of the Robot.
-        // The two examples below assume that the camera is facing forward out the front of the robot.
-
-        // We need to rotate the camera around it's long axis to bring the correct camera forward.
-        if (CAMERA_CHOICE == BACK) {
-            phoneYRotate = -90;
-        } else {
-            phoneYRotate = 90;
-        }
-
-        // Rotate the phone vertical about the X axis if it's in portrait mode
-        if (PHONE_IS_PORTRAIT) {
-            phoneXRotate = 90 ;
-        }
-
-        // Next, translate the camera lens to where it is on the robot.
-        // In this example, it is centered (left to right), but forward of the middle of the robot, and above ground level.
-        final float CAMERA_FORWARD_DISPLACEMENT  = 4.0f * mmPerInch;   // eg: Camera is 4 Inches in front of robot-center
-        final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch;   // eg: Camera is 8 Inches above ground
-        final float CAMERA_LEFT_DISPLACEMENT     = 0;     // eg: Camera is ON the robot's center line
-
-        OpenGLMatrix robotFromCamera = OpenGLMatrix
-                    .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
-                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate));
-
-        /**  Let all the trackable listeners know where the phone is.  */
-        for (VuforiaTrackable trackable : allTrackables) {
-            ((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection);
-        }
-
-        // WARNING:
-        // In this sample, we do not wait for PLAY to be pressed.  Target Tracking is started immediately when INIT is pressed.
-        // This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample.
-        // CONSEQUENTLY do not put any driving commands in this loop.
-        // To restore the normal opmode structure, just un-comment the following line:
-
-        // waitForStart();
-
-        // Note: To use the remote camera preview:
-        // AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream"
-        // Tap the preview window to receive a fresh image.
-
-        targetsUltimateGoal.activate();
-        while (!isStopRequested()) {
-
-            // check all the trackable targets to see which one (if any) is visible.
-            targetVisible = false;
-            for (VuforiaTrackable trackable : allTrackables) {
-                if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) {
-                    telemetry.addData("Visible Target", trackable.getName());
-                    targetVisible = true;
-
-                    // getUpdatedRobotLocation() will return null if no new information is available since
-                    // the last time that call was made, or if the trackable is not currently visible.
-                    OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
-                    if (robotLocationTransform != null) {
-                        lastLocation = robotLocationTransform;
-                    }
-                    break;
-                }
-            }
-
-            // Provide feedback as to where the robot is located (if we know).
-            if (targetVisible) {
-                // express position (translation) of robot in inches.
-                VectorF translation = lastLocation.getTranslation();
-                telemetry.addData("Pos (in)", "{X, Y, Z} = %.1f, %.1f, %.1f",
-                        translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch);
-
-                // express the rotation of the robot in degrees.
-                Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES);
-                telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle);
-            }
-            else {
-                telemetry.addData("Visible Target", "none");
-            }
-            telemetry.update();
-        }
-
-        // Disable Tracking when we are done;
-        targetsUltimateGoal.deactivate();
-    }
-}

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

@@ -1,310 +0,0 @@
-/* Copyright (c) 2020 FIRST. 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 android.graphics.Bitmap;
-import android.graphics.ImageFormat;
-import android.os.Handler;
-
-import androidx.annotation.NonNull;
-
-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.util.RobotLog;
-
-import org.firstinspires.ftc.robotcore.external.ClassFactory;
-import org.firstinspires.ftc.robotcore.external.android.util.Size;
-import org.firstinspires.ftc.robotcore.external.function.Consumer;
-import org.firstinspires.ftc.robotcore.external.function.Continuation;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.Camera;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureRequest;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSequenceId;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCaptureSession;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCharacteristics;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraException;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraFrame;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraManager;
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.internal.collections.EvictingBlockingQueue;
-import org.firstinspires.ftc.robotcore.internal.network.CallbackLooper;
-import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
-import org.firstinspires.ftc.robotcore.internal.system.ContinuationSynchronizer;
-import org.firstinspires.ftc.robotcore.internal.system.Deadline;
-
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.util.Locale;
-import java.util.concurrent.ArrayBlockingQueue;
-import java.util.concurrent.TimeUnit;
-
-/**
- * This OpMode illustrates how to open a webcam and retrieve images from it. It requires a configuration
- * containing a webcam with the default name ("Webcam 1"). When the opmode runs, pressing the 'A' button
- * will cause a frame from the camera to be written to a file on the device, which can then be retrieved
- * by various means (e.g.: Device File Explorer in Android Studio; plugging the device into a PC and
- * using Media Transfer; ADB; etc)
- */
-@TeleOp(name="Concept: Webcam", group ="Concept")
-@Disabled
-public class ConceptWebcam extends LinearOpMode {
-
-    //----------------------------------------------------------------------------------------------
-    // State
-    //----------------------------------------------------------------------------------------------
-
-    private static final String TAG = "Webcam Sample";
-
-    /** How long we are to wait to be granted permission to use the camera before giving up. Here,
-     * we wait indefinitely */
-    private static final int secondsPermissionTimeout = Integer.MAX_VALUE;
-
-    /** State regarding our interaction with the camera */
-    private CameraManager cameraManager;
-    private WebcamName cameraName;
-    private Camera camera;
-    private CameraCaptureSession cameraCaptureSession;
-
-    /** The queue into which all frames from the camera are placed as they become available.
-     * Frames which are not processed by the OpMode are automatically discarded. */
-    private EvictingBlockingQueue<Bitmap> frameQueue;
-
-    /** State regarding where and how to save frames when the 'A' button is pressed. */
-    private int captureCounter = 0;
-    private File captureDirectory = AppUtil.ROBOT_DATA_DIR;
-
-    /** A utility object that indicates where the asynchronous callbacks from the camera
-     * infrastructure are to run. In this OpMode, that's all hidden from you (but see {@link #startCamera}
-     * if you're curious): no knowledge of multi-threading is needed here. */
-    private Handler callbackHandler;
-
-    //----------------------------------------------------------------------------------------------
-    // Main OpMode entry
-    //----------------------------------------------------------------------------------------------
-
-    @Override public void runOpMode() {
-
-        callbackHandler = CallbackLooper.getDefault().getHandler();
-
-        cameraManager = ClassFactory.getInstance().getCameraManager();
-        cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
-
-        initializeFrameQueue(2);
-        AppUtil.getInstance().ensureDirectoryExists(captureDirectory);
-
-        try {
-            openCamera();
-            if (camera == null) return;
-
-            startCamera();
-            if (cameraCaptureSession == null) return;
-
-            telemetry.addData(">", "Press Play to start");
-            telemetry.update();
-            waitForStart();
-            telemetry.clear();
-            telemetry.addData(">", "Started...Press 'A' to capture frame");
-
-            boolean buttonPressSeen = false;
-            boolean captureWhenAvailable = false;
-            while (opModeIsActive()) {
-
-                boolean buttonIsPressed = gamepad1.a;
-                if (buttonIsPressed && !buttonPressSeen) {
-                    captureWhenAvailable = true;
-                }
-                buttonPressSeen = buttonIsPressed;
-
-                if (captureWhenAvailable) {
-                    Bitmap bmp = frameQueue.poll();
-                    if (bmp != null) {
-                        captureWhenAvailable = false;
-                        onNewFrame(bmp);
-                    }
-                }
-
-                telemetry.update();
-            }
-        } finally {
-            closeCamera();
-        }
-    }
-
-    /** Do something with the frame */
-    private void onNewFrame(Bitmap frame) {
-        saveBitmap(frame);
-        frame.recycle(); // not strictly necessary, but helpful
-    }
-
-    //----------------------------------------------------------------------------------------------
-    // Camera operations
-    //----------------------------------------------------------------------------------------------
-
-    private void initializeFrameQueue(int capacity) {
-        /** The frame queue will automatically throw away bitmap frames if they are not processed
-         * quickly by the OpMode. This avoids a buildup of frames in memory */
-        frameQueue = new EvictingBlockingQueue<Bitmap>(new ArrayBlockingQueue<Bitmap>(capacity));
-        frameQueue.setEvictAction(new Consumer<Bitmap>() {
-            @Override public void accept(Bitmap frame) {
-                // RobotLog.ii(TAG, "frame recycled w/o processing");
-                frame.recycle(); // not strictly necessary, but helpful
-            }
-        });
-    }
-
-    private void openCamera() {
-        if (camera != null) return; // be idempotent
-
-        Deadline deadline = new Deadline(secondsPermissionTimeout, TimeUnit.SECONDS);
-        camera = cameraManager.requestPermissionAndOpenCamera(deadline, cameraName, null);
-        if (camera == null) {
-            error("camera not found or permission to use not granted: %s", cameraName);
-        }
-    }
-
-    private void startCamera() {
-        if (cameraCaptureSession != null) return; // be idempotent
-
-        /** YUY2 is supported by all Webcams, per the USB Webcam standard: See "USB Device Class Definition
-         * for Video Devices: Uncompressed Payload, Table 2-1". Further, often this is the *only*
-         * image format supported by a camera */
-        final int imageFormat = ImageFormat.YUY2;
-
-        /** Verify that the image is supported, and fetch size and desired frame rate if so */
-        CameraCharacteristics cameraCharacteristics = cameraName.getCameraCharacteristics();
-        if (!contains(cameraCharacteristics.getAndroidFormats(), imageFormat)) {
-            error("image format not supported");
-            return;
-        }
-        final Size size = cameraCharacteristics.getDefaultSize(imageFormat);
-        final int fps = cameraCharacteristics.getMaxFramesPerSecond(imageFormat, size);
-
-        /** Some of the logic below runs asynchronously on other threads. Use of the synchronizer
-         * here allows us to wait in this method until all that asynchrony completes before returning. */
-        final ContinuationSynchronizer<CameraCaptureSession> synchronizer = new ContinuationSynchronizer<>();
-        try {
-            /** Create a session in which requests to capture frames can be made */
-            camera.createCaptureSession(Continuation.create(callbackHandler, new CameraCaptureSession.StateCallbackDefault() {
-                @Override public void onConfigured(@NonNull CameraCaptureSession session) {
-                    try {
-                        /** The session is ready to go. Start requesting frames */
-                        final CameraCaptureRequest captureRequest = camera.createCaptureRequest(imageFormat, size, fps);
-                        session.startCapture(captureRequest,
-                            new CameraCaptureSession.CaptureCallback() {
-                                @Override public void onNewFrame(@NonNull CameraCaptureSession session, @NonNull CameraCaptureRequest request, @NonNull CameraFrame cameraFrame) {
-                                    /** A new frame is available. The frame data has <em>not</em> been copied for us, and we can only access it
-                                     * for the duration of the callback. So we copy here manually. */
-                                    Bitmap bmp = captureRequest.createEmptyBitmap();
-                                    cameraFrame.copyToBitmap(bmp);
-                                    frameQueue.offer(bmp);
-                                }
-                            },
-                            Continuation.create(callbackHandler, new CameraCaptureSession.StatusCallback() {
-                                @Override public void onCaptureSequenceCompleted(@NonNull CameraCaptureSession session, CameraCaptureSequenceId cameraCaptureSequenceId, long lastFrameNumber) {
-                                    RobotLog.ii(TAG, "capture sequence %s reports completed: lastFrame=%d", cameraCaptureSequenceId, lastFrameNumber);
-                                }
-                            })
-                        );
-                        synchronizer.finish(session);
-                    } catch (CameraException|RuntimeException e) {
-                        RobotLog.ee(TAG, e, "exception starting capture");
-                        error("exception starting capture");
-                        session.close();
-                        synchronizer.finish(null);
-                    }
-                }
-            }));
-        } catch (CameraException|RuntimeException e) {
-            RobotLog.ee(TAG, e, "exception starting camera");
-            error("exception starting camera");
-            synchronizer.finish(null);
-        }
-
-        /** Wait for all the asynchrony to complete */
-        try {
-            synchronizer.await();
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        /** Retrieve the created session. This will be null on error. */
-        cameraCaptureSession = synchronizer.getValue();
-    }
-
-    private void stopCamera() {
-        if (cameraCaptureSession != null) {
-            cameraCaptureSession.stopCapture();
-            cameraCaptureSession.close();
-            cameraCaptureSession = null;
-        }
-    }
-
-    private void closeCamera() {
-        stopCamera();
-        if (camera != null) {
-            camera.close();
-            camera = null;
-        }
-    }
-
-    //----------------------------------------------------------------------------------------------
-    // Utilities
-    //----------------------------------------------------------------------------------------------
-
-    private void error(String msg) {
-        telemetry.log().add(msg);
-        telemetry.update();
-    }
-    private void error(String format, Object...args) {
-        telemetry.log().add(format, args);
-        telemetry.update();
-    }
-
-    private boolean contains(int[] array, int value) {
-        for (int i : array) {
-            if (i == value) return true;
-        }
-        return false;
-    }
-
-    private void saveBitmap(Bitmap bitmap) {
-        File file = new File(captureDirectory, String.format(Locale.getDefault(), "webcam-frame-%d.jpg", captureCounter++));
-        try {
-            try (FileOutputStream outputStream = new FileOutputStream(file)) {
-                bitmap.compress(Bitmap.CompressFormat.JPEG, 100, outputStream);
-                telemetry.log().add("captured %s", file.getName());
-            }
-        } catch (IOException e) {
-            RobotLog.ee(TAG, e, "exception in saveBitmap()");
-            error("exception saving %s", file.getName());
-        }
-    }
-}

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

@@ -1,105 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.Servo;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-/**
- * This is NOT an opmode.
- *
- * This class can be used to define all the specific hardware for a single robot.
- * In this case that robot is a Pushbot.
- * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
- *
- * This hardware class assumes the following device names have been configured on the robot:
- * Note:  All names are lower case and some have single spaces between words.
- *
- * Motor channel:  Left  drive motor:        "left_drive"
- * Motor channel:  Right drive motor:        "right_drive"
- * Motor channel:  Manipulator drive motor:  "left_arm"
- * Servo channel:  Servo to open left claw:  "left_hand"
- * Servo channel:  Servo to open right claw: "right_hand"
- */
-public class HardwarePushbot
-{
-    /* Public OpMode members. */
-    public DcMotor  leftDrive   = null;
-    public DcMotor  rightDrive  = null;
-    public DcMotor  leftArm     = null;
-    public Servo    leftClaw    = null;
-    public Servo    rightClaw   = null;
-
-    public static final double MID_SERVO       =  0.5 ;
-    public static final double ARM_UP_POWER    =  0.45 ;
-    public static final double ARM_DOWN_POWER  = -0.45 ;
-
-    /* local OpMode members. */
-    HardwareMap hwMap           =  null;
-    private ElapsedTime period  = new ElapsedTime();
-
-    /* Constructor */
-    public HardwarePushbot(){
-
-    }
-
-    /* Initialize standard Hardware interfaces */
-    public void init(HardwareMap ahwMap) {
-        // Save reference to Hardware map
-        hwMap = ahwMap;
-
-        // Define and Initialize Motors
-        leftDrive  = hwMap.get(DcMotor.class, "left_drive");
-        rightDrive = hwMap.get(DcMotor.class, "right_drive");
-        leftArm    = hwMap.get(DcMotor.class, "left_arm");
-        leftDrive.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
-        rightDrive.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors
-
-        // Set all motors to zero power
-        leftDrive.setPower(0);
-        rightDrive.setPower(0);
-        leftArm.setPower(0);
-
-        // Set all motors to run without encoders.
-        // May want to use RUN_USING_ENCODERS if encoders are installed.
-        leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        leftArm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-
-        // Define and initialize ALL installed servos.
-        leftClaw  = hwMap.get(Servo.class, "left_hand");
-        rightClaw = hwMap.get(Servo.class, "right_hand");
-        leftClaw.setPosition(MID_SERVO);
-        rightClaw.setPosition(MID_SERVO);
-    }
- }
-

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

@@ -1,363 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.modernrobotics.ModernRoboticsI2cGyro;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;
-import com.qualcomm.robotcore.util.Range;
-
-/**
- * This file illustrates the concept of driving a path based on Gyro heading and encoder counts.
- * It uses the common Pushbot hardware class to define the drive on the robot.
- * The code is structured as a LinearOpMode
- *
- * The code REQUIRES that you DO have encoders on the wheels,
- *   otherwise you would use: PushbotAutoDriveByTime;
- *
- *  This code ALSO requires that you have a Modern Robotics I2C gyro with the name "gyro"
- *   otherwise you would use: PushbotAutoDriveByEncoder;
- *
- *  This code requires that the drive Motors have been configured such that a positive
- *  power command moves them forward, and causes the encoders to count UP.
- *
- *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
- *
- *  In order to calibrate the Gyro correctly, the robot must remain stationary during calibration.
- *  This is performed when the INIT button is pressed on the Driver Station.
- *  This code assumes that the robot is stationary when the INIT button is pressed.
- *  If this is not the case, then the INIT should be performed again.
- *
- *  Note: in this example, all angles are referenced to the initial coordinate frame set during the
- *  the Gyro Calibration process, or whenever the program issues a resetZAxisIntegrator() call on the Gyro.
- *
- *  The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
- *  which means that a Positive rotation is Counter Clock Wise, looking down on the field.
- *  This is consistent with the FTC field coordinate conventions set out in the document:
- *  ftc_app\doc\tutorial\FTC_FieldCoordinateSystemDefinition.pdf
- *
- * Use Android Studios 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
- */
-
-@Autonomous(name="Pushbot: Auto Drive By Gyro", group="Pushbot")
-@Disabled
-public class PushbotAutoDriveByGyro_Linear extends LinearOpMode {
-
-    /* Declare OpMode members. */
-    HardwarePushbot         robot   = new HardwarePushbot();   // Use a Pushbot's hardware
-    ModernRoboticsI2cGyro   gyro    = null;                    // Additional Gyro device
-
-    static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
-    static final double     DRIVE_GEAR_REDUCTION    = 2.0 ;     // This is < 1.0 if geared UP
-    static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
-    static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
-                                                      (WHEEL_DIAMETER_INCHES * 3.1415);
-
-    // These constants define the desired driving/control characteristics
-    // The can/should be tweaked to suite the specific robot drive train.
-    static final double     DRIVE_SPEED             = 0.7;     // Nominal speed for better accuracy.
-    static final double     TURN_SPEED              = 0.5;     // Nominal half speed for better accuracy.
-
-    static final double     HEADING_THRESHOLD       = 1 ;      // As tight as we can make it with an integer gyro
-    static final double     P_TURN_COEFF            = 0.1;     // Larger is more responsive, but also less stable
-    static final double     P_DRIVE_COEFF           = 0.15;     // Larger is more responsive, but also less stable
-
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Initialize the standard drive system variables.
-         * The init() method of the hardware class does most of the work here
-         */
-        robot.init(hardwareMap);
-        gyro = (ModernRoboticsI2cGyro)hardwareMap.gyroSensor.get("gyro");
-
-        // Ensure the robot it stationary, then reset the encoders and calibrate the gyro.
-        robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-
-        // Send telemetry message to alert driver that we are calibrating;
-        telemetry.addData(">", "Calibrating Gyro");    //
-        telemetry.update();
-
-        gyro.calibrate();
-
-        // make sure the gyro is calibrated before continuing
-        while (!isStopRequested() && gyro.isCalibrating())  {
-            sleep(50);
-            idle();
-        }
-
-        telemetry.addData(">", "Robot Ready.");    //
-        telemetry.update();
-
-        robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        // Wait for the game to start (Display Gyro value), and reset gyro before we move..
-        while (!isStarted()) {
-            telemetry.addData(">", "Robot Heading = %d", gyro.getIntegratedZValue());
-            telemetry.update();
-        }
-
-        gyro.resetZAxisIntegrator();
-
-        // Step through each leg of the path,
-        // Note: Reverse movement is obtained by setting a negative distance (not speed)
-        // Put a hold after each turn
-        gyroDrive(DRIVE_SPEED, 48.0, 0.0);    // Drive FWD 48 inches
-        gyroTurn( TURN_SPEED, -45.0);         // Turn  CCW to -45 Degrees
-        gyroHold( TURN_SPEED, -45.0, 0.5);    // Hold -45 Deg heading for a 1/2 second
-        gyroDrive(DRIVE_SPEED, 12.0, -45.0);  // Drive FWD 12 inches at 45 degrees
-        gyroTurn( TURN_SPEED,  45.0);         // Turn  CW  to  45 Degrees
-        gyroHold( TURN_SPEED,  45.0, 0.5);    // Hold  45 Deg heading for a 1/2 second
-        gyroTurn( TURN_SPEED,   0.0);         // Turn  CW  to   0 Degrees
-        gyroHold( TURN_SPEED,   0.0, 1.0);    // Hold  0 Deg heading for a 1 second
-        gyroDrive(DRIVE_SPEED,-48.0, 0.0);    // Drive REV 48 inches
-
-        telemetry.addData("Path", "Complete");
-        telemetry.update();
-    }
-
-
-   /**
-    *  Method to drive on a fixed compass bearing (angle), based on encoder counts.
-    *  Move will stop if either of these conditions occur:
-    *  1) Move gets to the desired position
-    *  2) Driver stops the opmode running.
-    *
-    * @param speed      Target speed for forward motion.  Should allow for _/- variance for adjusting heading
-    * @param distance   Distance (in inches) to move from current position.  Negative distance means move backwards.
-    * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
-    *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
-    *                   If a relative angle is required, add/subtract from current heading.
-    */
-    public void gyroDrive ( double speed,
-                            double distance,
-                            double angle) {
-
-        int     newLeftTarget;
-        int     newRightTarget;
-        int     moveCounts;
-        double  max;
-        double  error;
-        double  steer;
-        double  leftSpeed;
-        double  rightSpeed;
-
-        // Ensure that the opmode is still active
-        if (opModeIsActive()) {
-
-            // Determine new target position, and pass to motor controller
-            moveCounts = (int)(distance * COUNTS_PER_INCH);
-            newLeftTarget = robot.leftDrive.getCurrentPosition() + moveCounts;
-            newRightTarget = robot.rightDrive.getCurrentPosition() + moveCounts;
-
-            // Set Target and Turn On RUN_TO_POSITION
-            robot.leftDrive.setTargetPosition(newLeftTarget);
-            robot.rightDrive.setTargetPosition(newRightTarget);
-
-            robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-
-            // start motion.
-            speed = Range.clip(Math.abs(speed), 0.0, 1.0);
-            robot.leftDrive.setPower(speed);
-            robot.rightDrive.setPower(speed);
-
-            // keep looping while we are still active, and BOTH motors are running.
-            while (opModeIsActive() &&
-                   (robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) {
-
-                // adjust relative speed based on heading error.
-                error = getError(angle);
-                steer = getSteer(error, P_DRIVE_COEFF);
-
-                // if driving in reverse, the motor correction also needs to be reversed
-                if (distance < 0)
-                    steer *= -1.0;
-
-                leftSpeed = speed - steer;
-                rightSpeed = speed + steer;
-
-                // Normalize speeds if either one exceeds +/- 1.0;
-                max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
-                if (max > 1.0)
-                {
-                    leftSpeed /= max;
-                    rightSpeed /= max;
-                }
-
-                robot.leftDrive.setPower(leftSpeed);
-                robot.rightDrive.setPower(rightSpeed);
-
-                // Display drive status for the driver.
-                telemetry.addData("Err/St",  "%5.1f/%5.1f",  error, steer);
-                telemetry.addData("Target",  "%7d:%7d",      newLeftTarget,  newRightTarget);
-                telemetry.addData("Actual",  "%7d:%7d",      robot.leftDrive.getCurrentPosition(),
-                                                             robot.rightDrive.getCurrentPosition());
-                telemetry.addData("Speed",   "%5.2f:%5.2f",  leftSpeed, rightSpeed);
-                telemetry.update();
-            }
-
-            // Stop all motion;
-            robot.leftDrive.setPower(0);
-            robot.rightDrive.setPower(0);
-
-            // Turn off RUN_TO_POSITION
-            robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-            robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        }
-    }
-
-    /**
-     *  Method to spin on central axis to point in a new direction.
-     *  Move will stop if either of these conditions occur:
-     *  1) Move gets to the heading (angle)
-     *  2) Driver stops the opmode running.
-     *
-     * @param speed Desired speed of turn.
-     * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
-     *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
-     *                   If a relative angle is required, add/subtract from current heading.
-     */
-    public void gyroTurn (  double speed, double angle) {
-
-        // keep looping while we are still active, and not on heading.
-        while (opModeIsActive() && !onHeading(speed, angle, P_TURN_COEFF)) {
-            // Update telemetry & Allow time for other processes to run.
-            telemetry.update();
-        }
-    }
-
-    /**
-     *  Method to obtain & hold a heading for a finite amount of time
-     *  Move will stop once the requested time has elapsed
-     *
-     * @param speed      Desired speed of turn.
-     * @param angle      Absolute Angle (in Degrees) relative to last gyro reset.
-     *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
-     *                   If a relative angle is required, add/subtract from current heading.
-     * @param holdTime   Length of time (in seconds) to hold the specified heading.
-     */
-    public void gyroHold( double speed, double angle, double holdTime) {
-
-        ElapsedTime holdTimer = new ElapsedTime();
-
-        // keep looping while we have time remaining.
-        holdTimer.reset();
-        while (opModeIsActive() && (holdTimer.time() < holdTime)) {
-            // Update telemetry & Allow time for other processes to run.
-            onHeading(speed, angle, P_TURN_COEFF);
-            telemetry.update();
-        }
-
-        // Stop all motion;
-        robot.leftDrive.setPower(0);
-        robot.rightDrive.setPower(0);
-    }
-
-    /**
-     * Perform one cycle of closed loop heading control.
-     *
-     * @param speed     Desired speed of turn.
-     * @param angle     Absolute Angle (in Degrees) relative to last gyro reset.
-     *                  0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
-     *                  If a relative angle is required, add/subtract from current heading.
-     * @param PCoeff    Proportional Gain coefficient
-     * @return
-     */
-    boolean onHeading(double speed, double angle, double PCoeff) {
-        double   error ;
-        double   steer ;
-        boolean  onTarget = false ;
-        double leftSpeed;
-        double rightSpeed;
-
-        // determine turn power based on +/- error
-        error = getError(angle);
-
-        if (Math.abs(error) <= HEADING_THRESHOLD) {
-            steer = 0.0;
-            leftSpeed  = 0.0;
-            rightSpeed = 0.0;
-            onTarget = true;
-        }
-        else {
-            steer = getSteer(error, PCoeff);
-            rightSpeed  = speed * steer;
-            leftSpeed   = -rightSpeed;
-        }
-
-        // Send desired speeds to motors.
-        robot.leftDrive.setPower(leftSpeed);
-        robot.rightDrive.setPower(rightSpeed);
-
-        // Display it for the driver.
-        telemetry.addData("Target", "%5.2f", angle);
-        telemetry.addData("Err/St", "%5.2f/%5.2f", error, steer);
-        telemetry.addData("Speed.", "%5.2f:%5.2f", leftSpeed, rightSpeed);
-
-        return onTarget;
-    }
-
-    /**
-     * getError determines the error between the target angle and the robot's current heading
-     * @param   targetAngle  Desired angle (relative to global reference established at last Gyro Reset).
-     * @return  error angle: Degrees in the range +/- 180. Centered on the robot's frame of reference
-     *          +ve error means the robot should turn LEFT (CCW) to reduce error.
-     */
-    public double getError(double targetAngle) {
-
-        double robotError;
-
-        // calculate error in -179 to +180 range  (
-        robotError = targetAngle - gyro.getIntegratedZValue();
-        while (robotError > 180)  robotError -= 360;
-        while (robotError <= -180) robotError += 360;
-        return robotError;
-    }
-
-    /**
-     * returns desired steering force.  +/- 1 range.  +ve = steer left
-     * @param error   Error angle in robot relative degrees
-     * @param PCoeff  Proportional Gain Coefficient
-     * @return
-     */
-    public double getSteer(double error, double PCoeff) {
-        return Range.clip(error * PCoeff, -1, 1);
-    }
-
-}

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

@@ -1,118 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.LightSensor;
-
-/**
- * This file illustrates the concept of driving up to a line and then stopping.
- * It uses the common Pushbot hardware class to define the drive on the robot.
- * The code is structured as a LinearOpMode
- *
- * The code shows using two different light sensors:
- *   The Primary sensor shown in this code is a legacy NXT Light sensor (called "sensor_light")
- *   Alternative "commented out" code uses a MR Optical Distance Sensor (called "sensor_ods")
- *   instead of the LEGO sensor.  Chose to use one sensor or the other.
- *
- *   Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
- *   This should be set half way between the light and dark values.
- *   These values can be read on the screen once the OpMode has been INIT, but before it is STARTED.
- *   Move the senso on asnd off the white line and not the min and max readings.
- *   Edit this code to make WHITE_THRESHOLD half way between the min and max.
- *
- * Use Android Studios 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
- */
-
-@Autonomous(name="Pushbot: Auto Drive To Line", group="Pushbot")
-@Disabled
-public class PushbotAutoDriveToLine_Linear extends LinearOpMode {
-
-    /* Declare OpMode members. */
-    HardwarePushbot         robot   = new HardwarePushbot();   // Use a Pushbot's hardware
-    LightSensor             lightSensor;      // Primary LEGO Light sensor,
-    // OpticalDistanceSensor   lightSensor;   // Alternative MR ODS sensor
-
-    static final double     WHITE_THRESHOLD = 0.2;  // spans between 0.1 - 0.5 from dark to light
-    static final double     APPROACH_SPEED  = 0.5;
-
-    @Override
-    public void runOpMode() {
-
-        /* Initialize the drive system variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
-
-        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
-        // robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        // robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        // get a reference to our Light Sensor object.
-        lightSensor = hardwareMap.lightSensor.get("sensor_light");                // Primary LEGO Light Sensor
-        //  lightSensor = hardwareMap.opticalDistanceSensor.get("sensor_ods");  // Alternative MR ODS sensor.
-
-        // turn on LED of light sensor.
-        lightSensor.enableLed(true);
-
-        // Send telemetry message to signify robot waiting;
-        telemetry.addData("Status", "Ready to run");    //
-        telemetry.update();
-
-        // Wait for the game to start (driver presses PLAY)
-        // Abort this loop is started or stopped.
-        while (!(isStarted() || isStopRequested())) {
-
-            // Display the light level while we are waiting to start
-            telemetry.addData("Light Level", lightSensor.getLightDetected());
-            telemetry.update();
-            idle();
-        }
-
-        // Start the robot moving forward, and then begin looking for a white line.
-        robot.leftDrive.setPower(APPROACH_SPEED);
-        robot.rightDrive.setPower(APPROACH_SPEED);
-
-        // run until the white line is seen OR the driver presses STOP;
-        while (opModeIsActive() && (lightSensor.getLightDetected() < WHITE_THRESHOLD)) {
-
-            // Display the light level while we are looking for the line
-            telemetry.addData("Light Level",  lightSensor.getLightDetected());
-            telemetry.update();
-        }
-
-        // Stop all motors
-        robot.leftDrive.setPower(0);
-        robot.rightDrive.setPower(0);
-    }
-}

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

@@ -35,43 +35,50 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-/**
- * This file illustrates the concept of driving a path based on encoder counts.
- * It uses the common Pushbot hardware class to define the drive on the robot.
+/*
+ * This OpMode illustrates the concept of driving a path based on encoder counts.
  * The code is structured as a LinearOpMode
  *
  * The code REQUIRES that you DO have encoders on the wheels,
- *   otherwise you would use: PushbotAutoDriveByTime;
+ *   otherwise you would use: RobotAutoDriveByTime;
  *
  *  This code ALSO requires that the drive Motors have been configured such that a positive
- *  power command moves them forwards, and causes the encoders to count UP.
+ *  power command moves them forward, and causes the encoders to count UP.
  *
  *   The desired path in this example is:
  *   - Drive forward for 48 inches
  *   - Spin right for 12 Inches
- *   - Drive Backwards for 24 inches
+ *   - Drive Backward for 24 inches
  *   - Stop and close the claw.
  *
  *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
  *  that performs the actual movement.
- *  This methods assumes that each movement is relative to the last stopping place.
+ *  This method assumes that each movement is relative to the last stopping place.
  *  There are other ways to perform encoder based moves, but this method is probably the simplest.
  *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
  *
- * Use Android Studios 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
+ * 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
  */
 
-@Autonomous(name="Pushbot: Auto Drive By Encoder", group="Pushbot")
+@Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
 @Disabled
-public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
+public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
 
     /* Declare OpMode members. */
-    HardwarePushbot         robot   = new HardwarePushbot();   // Use a Pushbot's hardware
+    private DcMotor         leftDrive   = null;
+    private DcMotor         rightDrive  = null;
+
     private ElapsedTime     runtime = new ElapsedTime();
 
+    // Calculate the COUNTS_PER_INCH for your specific drive train.
+    // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
+    // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
+    // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
+    // This is gearing DOWN for less speed and more torque.
+    // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
     static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
-    static final double     DRIVE_GEAR_REDUCTION    = 2.0 ;     // This is < 1.0 if geared UP
+    static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
     static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
     static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
                                                       (WHEEL_DIAMETER_INCHES * 3.1415);
@@ -81,26 +88,26 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
     @Override
     public void runOpMode() {
 
-        /*
-         * Initialize the drive system variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
+        // Initialize the drive system variables.
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
 
-        // Send telemetry message to signify robot waiting;
-        telemetry.addData("Status", "Resetting Encoders");    //
-        telemetry.update();
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        robot.leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        robot.rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 
-        robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
         // Send telemetry message to indicate successful Encoder reset
-        telemetry.addData("Path0",  "Starting at %7d :%7d",
-                          robot.leftDrive.getCurrentPosition(),
-                          robot.rightDrive.getCurrentPosition());
+        telemetry.addData("Starting at",  "%7d :%7d",
+                          leftDrive.getCurrentPosition(),
+                          rightDrive.getCurrentPosition());
         telemetry.update();
 
         // Wait for the game to start (driver presses PLAY)
@@ -112,12 +119,9 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
         encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
         encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout
 
-        robot.leftClaw.setPosition(1.0);            // S4: Stop and close the claw.
-        robot.rightClaw.setPosition(0.0);
-        sleep(1000);     // pause for servos to move
-
         telemetry.addData("Path", "Complete");
         telemetry.update();
+        sleep(1000);  // pause to display final telemetry message.
     }
 
     /*
@@ -126,7 +130,7 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
      *  Move will stop if any of three conditions occur:
      *  1) Move gets to the desired position
      *  2) Move runs out of time
-     *  3) Driver stops the opmode running.
+     *  3) Driver stops the OpMode running.
      */
     public void encoderDrive(double speed,
                              double leftInches, double rightInches,
@@ -134,23 +138,23 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
         int newLeftTarget;
         int newRightTarget;
 
-        // Ensure that the opmode is still active
+        // Ensure that the OpMode is still active
         if (opModeIsActive()) {
 
             // Determine new target position, and pass to motor controller
-            newLeftTarget = robot.leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
-            newRightTarget = robot.rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
-            robot.leftDrive.setTargetPosition(newLeftTarget);
-            robot.rightDrive.setTargetPosition(newRightTarget);
+            newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
+            newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
+            leftDrive.setTargetPosition(newLeftTarget);
+            rightDrive.setTargetPosition(newRightTarget);
 
             // Turn On RUN_TO_POSITION
-            robot.leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            robot.rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
 
             // reset the timeout time and start motion.
             runtime.reset();
-            robot.leftDrive.setPower(Math.abs(speed));
-            robot.rightDrive.setPower(Math.abs(speed));
+            leftDrive.setPower(Math.abs(speed));
+            rightDrive.setPower(Math.abs(speed));
 
             // keep looping while we are still active, and there is time left, and both motors are running.
             // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
@@ -160,25 +164,24 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
             // onto the next step, use (isBusy() || isBusy()) in the loop test.
             while (opModeIsActive() &&
                    (runtime.seconds() < timeoutS) &&
-                   (robot.leftDrive.isBusy() && robot.rightDrive.isBusy())) {
+                   (leftDrive.isBusy() && rightDrive.isBusy())) {
 
                 // Display it for the driver.
-                telemetry.addData("Path1",  "Running to %7d :%7d", newLeftTarget,  newRightTarget);
-                telemetry.addData("Path2",  "Running at %7d :%7d",
-                                            robot.leftDrive.getCurrentPosition(),
-                                            robot.rightDrive.getCurrentPosition());
+                telemetry.addData("Running to",  " %7d :%7d", newLeftTarget,  newRightTarget);
+                telemetry.addData("Currently at",  " at %7d :%7d",
+                                            leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
                 telemetry.update();
             }
 
             // Stop all motion;
-            robot.leftDrive.setPower(0);
-            robot.rightDrive.setPower(0);
+            leftDrive.setPower(0);
+            rightDrive.setPower(0);
 
             // Turn off RUN_TO_POSITION
-            robot.leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-            robot.rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
-            //  sleep(250);   // optional pause after each move
+            sleep(250);   // optional pause after each move.
         }
     }
 }

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

@@ -0,0 +1,429 @@
+/* Copyright (c) 2022 FIRST. 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.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.util.ElapsedTime;
+import com.qualcomm.robotcore.util.Range;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+/*
+ *  This OpMode illustrates the concept of driving an autonomous path based on Gyro (IMU) heading and encoder counts.
+ *  The code is structured as a LinearOpMode
+ *
+ *  The path to be followed by the robot is built from a series of drive, turn or pause steps.
+ *  Each step on the path is defined by a single function call, and these can be strung together in any order.
+ *
+ *  The code REQUIRES that you have encoders on the drive motors, otherwise you should use: RobotAutoDriveByTime;
+ *
+ *  This code uses the Universal IMU interface so it will work with either the BNO055, or BHI260 IMU.
+ *  To run as written, the Control/Expansion hub should be mounted horizontally on a flat part of the robot chassis.
+ *  The REV Logo should be facing UP, and the USB port should be facing forward.
+ *  If this is not the configuration of your REV Control Hub, then the code should be modified to reflect the correct orientation.
+ *
+ *  This sample requires that the drive Motors have been configured with names : left_drive and right_drive.
+ *  It also requires that a positive power command moves both motors forward, and causes the encoders to count UP.
+ *  So please verify that both of your motors move the robot forward on the first move.  If not, make the required correction.
+ *  See the beginning of runOpMode() to set the FORWARD/REVERSE option for each motor.
+ *
+ *  This code uses RUN_TO_POSITION mode for driving straight, and RUN_USING_ENCODER mode for turning and holding.
+ *  Note: This code implements the requirement of calling setTargetPosition() at least once before switching to RUN_TO_POSITION mode.
+ *
+ *  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.
+ *  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,
+ *  which means that a Positive rotation is Counter Clockwise, looking down on the field.
+ *  This is consistent with the FTC field coordinate conventions set out in the document:
+ *  https://ftc-docs.firstinspires.org/field-coordinate-system
+ *
+ *  Control Approach.
+ *
+ *  To reach, or maintain a required heading, this code implements a basic Proportional Controller where:
+ *
+ *      Steering power = Heading Error * Proportional Gain.
+ *
+ *      "Heading Error" is calculated by taking the difference between the desired heading and the actual heading,
+ *      and then "normalizing" it by converting it to a value in the +/- 180 degree range.
+ *
+ *      "Proportional Gain" is a constant that YOU choose to set the "strength" of the steering response.
+ *
+ *  Use Android Studio to Copy this Class, and Paste it into your "TeamCode" folder with a new name.
+ *  Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
+ */
+
+@Autonomous(name="Robot: Auto Drive By Gyro", group="Robot")
+@Disabled
+public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
+
+    /* Declare OpMode members. */
+    private DcMotor         leftDrive   = null;
+    private DcMotor         rightDrive  = null;
+    private IMU             imu         = null;      // Control/Expansion Hub IMU
+
+    private double          headingError  = 0;
+
+    // These variable are declared here (as class members) so they can be updated in various methods,
+    // but still be displayed by sendTelemetry()
+    private double  targetHeading = 0;
+    private double  driveSpeed    = 0;
+    private double  turnSpeed     = 0;
+    private double  leftSpeed     = 0;
+    private double  rightSpeed    = 0;
+    private int     leftTarget    = 0;
+    private int     rightTarget   = 0;
+
+    // Calculate the COUNTS_PER_INCH for your specific drive train.
+    // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
+    // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
+    // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
+    // This is gearing DOWN for less speed and more torque.
+    // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
+    static final double     COUNTS_PER_MOTOR_REV    = 537.7 ;   // eg: GoBILDA 312 RPM Yellow Jacket
+    static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
+    static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
+    static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
+                                                      (WHEEL_DIAMETER_INCHES * 3.1415);
+
+    // 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     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)
+    // 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_DRIVE_GAIN           = 0.03;     // Larger is more responsive, but also less stable
+
+
+    @Override
+    public void runOpMode() {
+
+        // Initialize the drive system variables.
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        /* The next two lines define Hub orientation.
+         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
+         *
+         * To Do:  EDIT these two lines to match YOUR mounting configuration.
+         */
+        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
+        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
+
+        // Now initialize the IMU with this mounting orientation
+        // This sample expects the IMU to be in a REV Hub and named "imu".
+        imu = hardwareMap.get(IMU.class, "imu");
+        imu.initialize(new IMU.Parameters(orientationOnRobot));
+
+        // Ensure the robot is stationary.  Reset the encoders and set the motors to BRAKE mode
+        leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        leftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // Wait for the game to start (Display Gyro value while waiting)
+        while (opModeInInit()) {
+            telemetry.addData(">", "Robot Heading = %4.0f", getHeading());
+            telemetry.update();
+        }
+
+        // Set the encoders for closed loop speed control, and reset the heading.
+        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        imu.resetYaw();
+
+        // Step through each leg of the path,
+        // Notes:   Reverse movement is obtained by setting a negative distance (not speed)
+        //          holdHeading() is used after turns to let the heading stabilize
+        //          Add a sleep(2000) after any step to keep the telemetry data visible for review
+
+        driveStraight(DRIVE_SPEED, 24.0, 0.0);    // Drive Forward 24"
+        turnToHeading( TURN_SPEED, -45.0);               // Turn  CW to -45 Degrees
+        holdHeading( TURN_SPEED, -45.0, 0.5);   // Hold -45 Deg heading for a 1/2 second
+
+        driveStraight(DRIVE_SPEED, 17.0, -45.0);  // Drive Forward 17" at -45 degrees (12"x and 12"y)
+        turnToHeading( TURN_SPEED,  45.0);               // Turn  CCW  to  45 Degrees
+        holdHeading( TURN_SPEED,  45.0, 0.5);    // Hold  45 Deg heading for a 1/2 second
+
+        driveStraight(DRIVE_SPEED, 17.0, 45.0);  // Drive Forward 17" at 45 degrees (-12"x and 12"y)
+        turnToHeading( TURN_SPEED,   0.0);               // Turn  CW  to 0 Degrees
+        holdHeading( TURN_SPEED,   0.0, 1.0);    // Hold  0 Deg heading for 1 second
+
+        driveStraight(DRIVE_SPEED,-48.0, 0.0);    // Drive in Reverse 48" (should return to approx. staring position)
+
+        telemetry.addData("Path", "Complete");
+        telemetry.update();
+        sleep(1000);  // Pause to display last telemetry message.
+    }
+
+    /*
+     * ====================================================================================================
+     * Driving "Helper" functions are below this line.
+     * These provide the high and low level methods that handle driving straight and turning.
+     * ====================================================================================================
+     */
+
+    // **********  HIGH Level driving functions.  ********************
+
+    /**
+    *  Drive in a straight line, on a fixed compass heading (angle), based on encoder counts.
+    *  Move will stop if either of these conditions occur:
+    *  1) Move gets to the desired position
+    *  2) Driver stops the OpMode running.
+    *
+    * @param maxDriveSpeed MAX Speed for forward/rev motion (range 0 to +1.0) .
+    * @param distance   Distance (in inches) to move from current position.  Negative distance means move backward.
+    * @param heading      Absolute Heading Angle (in Degrees) relative to last gyro reset.
+    *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
+    *                   If a relative angle is required, add/subtract from the current robotHeading.
+    */
+    public void driveStraight(double maxDriveSpeed,
+                              double distance,
+                              double heading) {
+
+        // Ensure that the OpMode is still active
+        if (opModeIsActive()) {
+
+            // Determine new target position, and pass to motor controller
+            int moveCounts = (int)(distance * COUNTS_PER_INCH);
+            leftTarget = leftDrive.getCurrentPosition() + moveCounts;
+            rightTarget = rightDrive.getCurrentPosition() + moveCounts;
+
+            // Set Target FIRST, then turn on RUN_TO_POSITION
+            leftDrive.setTargetPosition(leftTarget);
+            rightDrive.setTargetPosition(rightTarget);
+
+            leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+            // Set the required driving speed  (must be positive for RUN_TO_POSITION)
+            // Start driving straight, and then enter the control loop
+            maxDriveSpeed = Math.abs(maxDriveSpeed);
+            moveRobot(maxDriveSpeed, 0);
+
+            // keep looping while we are still active, and BOTH motors are running.
+            while (opModeIsActive() &&
+                   (leftDrive.isBusy() && rightDrive.isBusy())) {
+
+                // Determine required steering to keep on heading
+                turnSpeed = getSteeringCorrection(heading, P_DRIVE_GAIN);
+
+                // if driving in reverse, the motor correction also needs to be reversed
+                if (distance < 0)
+                    turnSpeed *= -1.0;
+
+                // Apply the turning correction to the current driving speed.
+                moveRobot(driveSpeed, turnSpeed);
+
+                // Display drive status for the driver.
+                sendTelemetry(true);
+            }
+
+            // Stop all motion & Turn off RUN_TO_POSITION
+            moveRobot(0, 0);
+            leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        }
+    }
+
+    /**
+     *  Spin on the central axis to point in a new direction.
+     *  <p>
+     *  Move will stop if either of these conditions occur:
+     *  <p>
+     *  1) Move gets to the heading (angle)
+     *  <p>
+     *  2) Driver stops the OpMode running.
+     *
+     * @param maxTurnSpeed Desired MAX speed of turn. (range 0 to +1.0)
+     * @param heading Absolute Heading Angle (in Degrees) relative to last gyro reset.
+     *              0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
+     *              If a relative angle is required, add/subtract from current heading.
+     */
+    public void turnToHeading(double maxTurnSpeed, double heading) {
+
+        // Run getSteeringCorrection() once to pre-calculate the current error
+        getSteeringCorrection(heading, P_DRIVE_GAIN);
+
+        // keep looping while we are still active, and not on heading.
+        while (opModeIsActive() && (Math.abs(headingError) > HEADING_THRESHOLD)) {
+
+            // Determine required steering to keep on heading
+            turnSpeed = getSteeringCorrection(heading, P_TURN_GAIN);
+
+            // Clip the speed to the maximum permitted value.
+            turnSpeed = Range.clip(turnSpeed, -maxTurnSpeed, maxTurnSpeed);
+
+            // Pivot in place by applying the turning correction
+            moveRobot(0, turnSpeed);
+
+            // Display drive status for the driver.
+            sendTelemetry(false);
+        }
+
+        // Stop all motion;
+        moveRobot(0, 0);
+    }
+
+    /**
+     *  Obtain & hold a heading for a finite amount of time
+     *  <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.
+     *
+     * @param maxTurnSpeed      Maximum differential turn speed (range 0 to +1.0)
+     * @param heading    Absolute Heading Angle (in Degrees) relative to last gyro reset.
+     *                   0 = fwd. +ve is CCW from fwd. -ve is CW from forward.
+     *                   If a relative angle is required, add/subtract from current heading.
+     * @param holdTime   Length of time (in seconds) to hold the specified heading.
+     */
+    public void holdHeading(double maxTurnSpeed, double heading, double holdTime) {
+
+        ElapsedTime holdTimer = new ElapsedTime();
+        holdTimer.reset();
+
+        // keep looping while we have time remaining.
+        while (opModeIsActive() && (holdTimer.time() < holdTime)) {
+            // Determine required steering to keep on heading
+            turnSpeed = getSteeringCorrection(heading, P_TURN_GAIN);
+
+            // Clip the speed to the maximum permitted value.
+            turnSpeed = Range.clip(turnSpeed, -maxTurnSpeed, maxTurnSpeed);
+
+            // Pivot in place by applying the turning correction
+            moveRobot(0, turnSpeed);
+
+            // Display drive status for the driver.
+            sendTelemetry(false);
+        }
+
+        // Stop all motion;
+        moveRobot(0, 0);
+    }
+
+    // **********  LOW Level driving functions.  ********************
+
+    /**
+     * Use a Proportional Controller to determine how much steering correction is required.
+     *
+     * @param desiredHeading        The desired absolute heading (relative to last heading reset)
+     * @param proportionalGain      Gain factor applied to heading error to obtain turning power.
+     * @return                      Turning power needed to get to required heading.
+     */
+    public double getSteeringCorrection(double desiredHeading, double proportionalGain) {
+        targetHeading = desiredHeading;  // Save for telemetry
+
+        // Determine the heading current error
+        headingError = targetHeading - getHeading();
+
+        // Normalize the error to be within +/- 180 degrees
+        while (headingError > 180)  headingError -= 360;
+        while (headingError <= -180) headingError += 360;
+
+        // Multiply the error by the gain to determine the required steering correction/  Limit the result to +/- 1.0
+        return Range.clip(headingError * proportionalGain, -1, 1);
+    }
+
+    /**
+     * Take separate drive (fwd/rev) and turn (right/left) requests,
+     * combines them, and applies the appropriate speed commands to the left and right wheel motors.
+     * @param drive forward motor speed
+     * @param turn  clockwise turning motor speed.
+     */
+    public void moveRobot(double drive, double turn) {
+        driveSpeed = drive;     // save this value as a class member so it can be used by telemetry.
+        turnSpeed  = turn;      // save this value as a class member so it can be used by telemetry.
+
+        leftSpeed  = drive - turn;
+        rightSpeed = drive + turn;
+
+        // Scale speeds down if either one exceeds +/- 1.0;
+        double max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
+        if (max > 1.0)
+        {
+            leftSpeed /= max;
+            rightSpeed /= max;
+        }
+
+        leftDrive.setPower(leftSpeed);
+        rightDrive.setPower(rightSpeed);
+    }
+
+    /**
+     *  Display the various control parameters while driving
+     *
+     * @param straight  Set to true if we are driving straight, and the encoder positions should be included in the telemetry.
+     */
+    private void sendTelemetry(boolean straight) {
+
+        if (straight) {
+            telemetry.addData("Motion", "Drive Straight");
+            telemetry.addData("Target Pos L:R",  "%7d:%7d",      leftTarget,  rightTarget);
+            telemetry.addData("Actual Pos L:R",  "%7d:%7d",      leftDrive.getCurrentPosition(),
+                    rightDrive.getCurrentPosition());
+        } else {
+            telemetry.addData("Motion", "Turning");
+        }
+
+        telemetry.addData("Heading- Target : Current", "%5.2f : %5.0f", targetHeading, getHeading());
+        telemetry.addData("Error  : Steer Pwr",  "%5.1f : %5.1f", headingError, turnSpeed);
+        telemetry.addData("Wheel Speeds L : R", "%5.2f : %5.2f", leftSpeed, rightSpeed);
+        telemetry.update();
+    }
+
+    /**
+     * read the Robot heading directly from the IMU (in degrees)
+     */
+    public double getHeading() {
+        YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+        return orientation.getYaw(AngleUnit.DEGREES);
+    }
+}

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

@@ -32,35 +32,36 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-/**
- * This file illustrates the concept of driving a path based on time.
- * It uses the common Pushbot hardware class to define the drive on the robot.
+/*
+ * This OpMode illustrates the concept of driving a path based on time.
  * The code is structured as a LinearOpMode
  *
  * The code assumes that you do NOT have encoders on the wheels,
- *   otherwise you would use: PushbotAutoDriveByEncoder;
+ *   otherwise you would use: RobotAutoDriveByEncoder;
  *
  *   The desired path in this example is:
  *   - Drive forward for 3 seconds
  *   - Spin right for 1.3 seconds
- *   - Drive Backwards for 1 Second
- *   - Stop and close the claw.
+ *   - Drive Backward for 1 Second
  *
  *  The code is written in a simple form with no optimizations.
  *  However, there are several ways that this type of sequence could be streamlined,
  *
- * Use Android Studios 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
+ * 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
  */
 
-@Autonomous(name="Pushbot: Auto Drive By Time", group="Pushbot")
+@Autonomous(name="Robot: Auto Drive By Time", group="Robot")
 @Disabled
-public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
+public class RobotAutoDriveByTime_Linear extends LinearOpMode {
 
     /* Declare OpMode members. */
-    HardwarePushbot         robot   = new HardwarePushbot();   // Use a Pushbot's hardware
+    private DcMotor         leftDrive   = null;
+    private DcMotor         rightDrive  = null;
+
     private ElapsedTime     runtime = new ElapsedTime();
 
 
@@ -70,11 +71,15 @@ public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
     @Override
     public void runOpMode() {
 
-        /*
-         * Initialize the drive system variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
+        // Initialize the drive system variables.
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // Send telemetry message to signify robot waiting;
         telemetry.addData("Status", "Ready to run");    //
@@ -86,37 +91,35 @@ public class PushbotAutoDriveByTime_Linear extends LinearOpMode {
         // Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
 
         // Step 1:  Drive forward for 3 seconds
-        robot.leftDrive.setPower(FORWARD_SPEED);
-        robot.rightDrive.setPower(FORWARD_SPEED);
+        leftDrive.setPower(FORWARD_SPEED);
+        rightDrive.setPower(FORWARD_SPEED);
         runtime.reset();
         while (opModeIsActive() && (runtime.seconds() < 3.0)) {
-            telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
+            telemetry.addData("Path", "Leg 1: %4.1f S Elapsed", runtime.seconds());
             telemetry.update();
         }
 
         // Step 2:  Spin right for 1.3 seconds
-        robot.leftDrive.setPower(TURN_SPEED);
-        robot.rightDrive.setPower(-TURN_SPEED);
+        leftDrive.setPower(TURN_SPEED);
+        rightDrive.setPower(-TURN_SPEED);
         runtime.reset();
         while (opModeIsActive() && (runtime.seconds() < 1.3)) {
-            telemetry.addData("Path", "Leg 2: %2.5f S Elapsed", runtime.seconds());
+            telemetry.addData("Path", "Leg 2: %4.1f S Elapsed", runtime.seconds());
             telemetry.update();
         }
 
-        // Step 3:  Drive Backwards for 1 Second
-        robot.leftDrive.setPower(-FORWARD_SPEED);
-        robot.rightDrive.setPower(-FORWARD_SPEED);
+        // Step 3:  Drive Backward for 1 Second
+        leftDrive.setPower(-FORWARD_SPEED);
+        rightDrive.setPower(-FORWARD_SPEED);
         runtime.reset();
         while (opModeIsActive() && (runtime.seconds() < 1.0)) {
-            telemetry.addData("Path", "Leg 3: %2.5f S Elapsed", runtime.seconds());
+            telemetry.addData("Path", "Leg 3: %4.1f S Elapsed", runtime.seconds());
             telemetry.update();
         }
 
-        // Step 4:  Stop and close the claw.
-        robot.leftDrive.setPower(0);
-        robot.rightDrive.setPower(0);
-        robot.leftClaw.setPosition(1.0);
-        robot.rightClaw.setPosition(0.0);
+        // Step 4:  Stop
+        leftDrive.setPower(0);
+        rightDrive.setPower(0);
 
         telemetry.addData("Path", "Complete");
         telemetry.update();

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

@@ -0,0 +1,321 @@
+/* Copyright (c) 2023 FIRST. 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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.Range;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+/*
+ * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
+ * The code assumes a Holonomic (Mecanum or X Drive) Robot.
+ *
+ * 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
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
+ * driving towards the tag to achieve the desired distance.
+ * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
+ * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
+ *
+ * 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)
+ *
+ * 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.
+ *
+ * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
+ * Release the Left Bumper to return to manual driving mode.
+ *
+ * Under "Drive To Target" mode, the robot has three goals:
+ * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
+ * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front  of the tag.  (Use the Target Yaw to strafe the robot)
+ * 3) Drive towards the Tag to get to the desired distance.  (Use Tag Range to drive the robot forward/backward)
+ *
+ * Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
+ * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants.
+ *
+ * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ *
+ */
+
+@TeleOp(name="Omni Drive To AprilTag", group = "Concept")
+@Disabled
+public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
+{
+    // Adjust these numbers to suit your robot.
+    final double DESIRED_DISTANCE = 12.0; //  this is how close the camera should get to the target (inches)
+
+    //  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 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 TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  eg: 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_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
+    private DcMotor rightFrontDrive  = null;  //  Used to control the right front drive wheel
+    private DcMotor leftBackDrive    = null;  //  Used to control the left back drive wheel
+    private DcMotor rightBackDrive   = null;  //  Used to control the right back drive wheel
+
+    private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
+    private static final int DESIRED_TAG_ID = -1;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private VisionPortal visionPortal;               // Used to manage the video source.
+    private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
+    private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
+
+    @Override public void runOpMode()
+    {
+        boolean targetFound     = false;    // Set to true when an AprilTag target is detected
+        double  drive           = 0;        // Desired forward power/speed (-1 to +1)
+        double  strafe          = 0;        // Desired strafe power/speed (-1 to +1)
+        double  turn            = 0;        // Desired turning power/speed (-1 to +1)
+
+        // Initialize the Apriltag Detection process
+        initAprilTag();
+
+        // Initialize the hardware variables. Note that the strings used here as parameters
+        // to 'get' must match the names assigned during the robot configuration.
+        // step (using the FTC Robot Controller app on the phone).
+        leftFrontDrive  = hardwareMap.get(DcMotor.class, "leftfront_drive");
+        rightFrontDrive = hardwareMap.get(DcMotor.class, "rightfront_drive");
+        leftBackDrive  = hardwareMap.get(DcMotor.class, "leftback_drive");
+        rightBackDrive = hardwareMap.get(DcMotor.class, "rightback_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
+        leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
+        rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        if (USE_WEBCAM)
+            setManualExposure(6, 250);  // Use low exposure time to reduce motion blur
+
+        // Wait for driver to press start
+        telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive())
+        {
+            targetFound = false;
+            desiredTag  = null;
+
+            // Step through the list of detected tags and look for a matching tag
+            List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+            for (AprilTagDetection detection : currentDetections) {
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
+                } else {
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
+                }
+            }
+
+            // Tell the driver what we see, and what to do.
+            if (targetFound) {
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
+                telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
+                telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
+            } else {
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
+            }
+
+            // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
+            if (gamepad1.left_bumper && targetFound) {
+
+                // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically.
+                double  rangeError      = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
+                double  headingError    = desiredTag.ftcPose.bearing;
+                double  yawError        = desiredTag.ftcPose.yaw;
+
+                // Use the speed and turn "gains" to calculate how we want the robot to move.
+                drive  = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
+                turn   = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
+                strafe = Range.clip(-yawError * STRAFE_GAIN, -MAX_AUTO_STRAFE, MAX_AUTO_STRAFE);
+
+                telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
+            } else {
+
+                // drive using manual POV Joystick mode.  Slow things down to make the robot more controlable.
+                drive  = -gamepad1.left_stick_y  / 2.0;  // Reduce drive rate to 50%.
+                strafe = -gamepad1.left_stick_x  / 2.0;  // Reduce strafe rate to 50%.
+                turn   = -gamepad1.right_stick_x / 3.0;  // Reduce turn rate to 33%.
+                telemetry.addData("Manual","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
+            }
+            telemetry.update();
+
+            // Apply desired axes motions to the drivetrain.
+            moveRobot(drive, strafe, turn);
+            sleep(10);
+        }
+    }
+
+    /**
+     * Move robot according to desired axes motions
+     * <p>
+     * Positive X is forward
+     * <p>
+     * Positive Y is strafe left
+     * <p>
+     * Positive Yaw is counter-clockwise
+     */
+    public void moveRobot(double x, double y, double yaw) {
+        // Calculate wheel powers.
+        double leftFrontPower    =  x -y -yaw;
+        double rightFrontPower   =  x +y +yaw;
+        double leftBackPower     =  x +y -yaw;
+        double rightBackPower    =  x -y +yaw;
+
+        // Normalize wheel powers to be less than 1.0
+        double max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+        max = Math.max(max, Math.abs(leftBackPower));
+        max = Math.max(max, Math.abs(rightBackPower));
+
+        if (max > 1.0) {
+            leftFrontPower /= max;
+            rightFrontPower /= max;
+            leftBackPower /= max;
+            rightBackPower /= max;
+        }
+
+        // Send powers to the wheels.
+        leftFrontDrive.setPower(leftFrontPower);
+        rightFrontDrive.setPower(rightFrontPower);
+        leftBackDrive.setPower(leftBackPower);
+        rightBackDrive.setPower(rightBackPower);
+    }
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+        // Create the AprilTag processor by using a builder.
+        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
+        // 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
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
+        // Create the vision portal by using a builder.
+        if (USE_WEBCAM) {
+            visionPortal = new VisionPortal.Builder()
+                    .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                    .addProcessor(aprilTag)
+                    .build();
+        } else {
+            visionPortal = new VisionPortal.Builder()
+                    .setCamera(BuiltinCameraDirection.BACK)
+                    .addProcessor(aprilTag)
+                    .build();
+        }
+    }
+
+    /*
+     Manually set the camera gain and exposure.
+     This can only be called AFTER calling initAprilTag(), and only works for Webcams;
+    */
+    private void    setManualExposure(int exposureMS, int gain) {
+        // Wait for the camera to be open, then use the controls
+
+        if (visionPortal == null) {
+            return;
+        }
+
+        // Make sure camera is streaming before we try to set the exposure controls
+        if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
+            telemetry.addData("Camera", "Waiting");
+            telemetry.update();
+            while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
+                sleep(20);
+            }
+            telemetry.addData("Camera", "Ready");
+            telemetry.update();
+        }
+
+        // Set camera controls unless we are stopping.
+        if (!isStopRequested())
+        {
+            ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
+            if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
+                exposureControl.setMode(ExposureControl.Mode.Manual);
+                sleep(50);
+            }
+            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            sleep(20);
+            GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
+            gainControl.setGain(gain);
+            sleep(20);
+        }
+    }
+}

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

@@ -0,0 +1,298 @@
+/* Copyright (c) 2023 FIRST. 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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.Range;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+/*
+ * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
+ * The code assumes a basic two-wheel (Tank) Robot Drivetrain
+ *
+ * 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
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
+ * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
+ * You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
+ *
+ * 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)
+ *
+ * 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).
+ *
+ * Manually drive the robot until it displays Target data on the Driver Station.
+ * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
+ * Release the Left Bumper to return to manual driving mode.
+ *
+ *  Under "Drive To Target" mode, the robot has two goals:
+ *  1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
+ *  2) Drive towards the Tag to get to the desired distance.  (Use Tag Range to drive the robot forward/backward)
+ *
+ *  Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
+ * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants.
+ *
+ * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ *
+ */
+
+@TeleOp(name="Tank Drive To AprilTag", group = "Concept")
+@Disabled
+public class RobotAutoDriveToAprilTagTank extends LinearOpMode
+{
+    // Adjust these numbers to suit your robot.
+    final double DESIRED_DISTANCE = 12.0; //  this is how close the camera should get to the target (inches)
+
+    //  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 TURN_GAIN  =   0.01 ;   //  Turn Control "Gain".  eg: 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)
+
+    private DcMotor leftDrive   = null;  //  Used to control the left drive wheel
+    private DcMotor rightDrive  = null;  //  Used to control the right drive wheel
+
+    private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
+    private static final int DESIRED_TAG_ID = -1;    // Choose the tag you want to approach or set to -1 for ANY tag.
+    private VisionPortal visionPortal;               // Used to manage the video source.
+    private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
+    private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
+
+    @Override public void runOpMode()
+    {
+        boolean targetFound     = false;    // Set to true when an AprilTag target is detected
+        double  drive           = 0;        // Desired forward power/speed (-1 to +1) +ve is forward
+        double  turn            = 0;        // Desired turning power/speed (-1 to +1) +ve is CounterClockwise
+
+        // Initialize the Apriltag Detection process
+        initAprilTag();
+
+        // Initialize the hardware variables. Note that the strings used here as parameters
+        // to 'get' must match the names assigned during the robot configuration.
+        // step (using the FTC Robot Controller app on the phone).
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Single Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        if (USE_WEBCAM)
+            setManualExposure(6, 250);  // Use low exposure time to reduce motion blur
+
+        // 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.update();
+        waitForStart();
+
+        while (opModeIsActive())
+        {
+            targetFound = false;
+            desiredTag  = null;
+
+            // Step through the list of detected tags and look for a matching tag
+            List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+            for (AprilTagDetection detection : currentDetections) {
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
+                } else {
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
+                }
+            }
+
+            // Tell the driver what we see, and what to do.
+            if (targetFound) {
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
+                telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
+            } else {
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
+            }
+
+            // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
+            if (gamepad1.left_bumper && targetFound) {
+
+                // Determine heading and range error so we can use them to control the robot automatically.
+                double  rangeError   = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
+                double  headingError = desiredTag.ftcPose.bearing;
+
+                // Use the speed and turn "gains" to calculate how we want the robot to move.  Clip it to the maximum
+                drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
+                turn  = Range.clip(headingError * TURN_GAIN, -MAX_AUTO_TURN, MAX_AUTO_TURN) ;
+
+                telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn);
+            } else {
+
+                // drive using manual POV Joystick mode.
+                drive = -gamepad1.left_stick_y  / 2.0;  // Reduce drive rate to 50%.
+                turn  = -gamepad1.right_stick_x / 4.0;  // Reduce turn rate to 25%.
+                telemetry.addData("Manual","Drive %5.2f, Turn %5.2f", drive, turn);
+            }
+            telemetry.update();
+
+            // Apply desired axes motions to the drivetrain.
+            moveRobot(drive, turn);
+            sleep(10);
+        }
+    }
+
+    /**
+     * Move robot according to desired axes motions
+     * <p>
+     * Positive X is forward
+     * <p>
+     * Positive Yaw is counter-clockwise
+     */
+    public void moveRobot(double x, double yaw) {
+        // Calculate left and right wheel powers.
+        double leftPower    = x - yaw;
+        double rightPower   = x + yaw;
+
+        // Normalize wheel powers to be less than 1.0
+        double max = Math.max(Math.abs(leftPower), Math.abs(rightPower));
+        if (max >1.0) {
+            leftPower /= max;
+            rightPower /= max;
+        }
+
+        // Send powers to the wheels.
+        leftDrive.setPower(leftPower);
+        rightDrive.setPower(rightPower);
+    }
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+        // Create the AprilTag processor by using a builder.
+        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
+        // 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
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
+        // Create the vision portal by using a builder.
+        if (USE_WEBCAM) {
+            visionPortal = new VisionPortal.Builder()
+                    .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                    .addProcessor(aprilTag)
+                    .build();
+        } else {
+            visionPortal = new VisionPortal.Builder()
+                    .setCamera(BuiltinCameraDirection.BACK)
+                    .addProcessor(aprilTag)
+                    .build();
+        }
+    }
+
+    /*
+     Manually set the camera gain and exposure.
+     This can only be called AFTER calling initAprilTag(), and only works for Webcams;
+    */
+    private void    setManualExposure(int exposureMS, int gain) {
+        // Wait for the camera to be open, then use the controls
+
+        if (visionPortal == null) {
+            return;
+        }
+
+        // Make sure camera is streaming before we try to set the exposure controls
+        if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
+            telemetry.addData("Camera", "Waiting");
+            telemetry.update();
+            while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
+                sleep(20);
+            }
+            telemetry.addData("Camera", "Ready");
+            telemetry.update();
+        }
+
+        // Set camera controls unless we are stopping.
+        if (!isStopRequested())
+        {
+            ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
+            if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
+                exposureControl.setMode(ExposureControl.Mode.Manual);
+                sleep(50);
+            }
+            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            sleep(20);
+            GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
+            gainControl.setGain(gain);
+            sleep(20);
+            telemetry.addData("Camera", "Ready");
+            telemetry.update();
+        }
+    }
+}

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

@@ -0,0 +1,142 @@
+/* Copyright (c) 2017 FIRST. 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.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+import com.qualcomm.robotcore.hardware.SwitchableLight;
+
+/*
+ * This OpMode illustrates the concept of driving up to a line and then stopping.
+ * The code is structured as a LinearOpMode
+ *
+ * The Sensor used here can be a REV Color Sensor V2 or V3.  Make sure the white LED is turned on.
+ * The sensor can be plugged into any I2C port, and must be named "sensor_color" in the active configuration.
+ *
+ *   Depending on the height of your color sensor, you may want to set the sensor "gain".
+ *   The higher the gain, the greater the reflected light reading will be.
+ *   Use the SensorColor sample in this folder to determine the minimum gain value that provides an
+ *   "Alpha" reading of 1.0 when you are on top of the white line.  In this sample, we use a gain of 15
+ *   which works well with a Rev V2 color sensor
+ *
+ *   Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
+ *   This should be set halfway between the bare-tile, and white-line "Alpha" values.
+ *   The reflected light value can be read on the screen once the OpMode has been INIT, but before it is STARTED.
+ *   Move the sensor on and off the white line and note the min and max readings.
+ *   Edit this code to make WHITE_THRESHOLD halfway between the min and max.
+ *
+ *   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
+ */
+
+@Autonomous(name="Robot: Auto Drive To Line", group="Robot")
+@Disabled
+public class RobotAutoDriveToLine_Linear extends LinearOpMode {
+
+    /* Declare OpMode members. */
+    private DcMotor         leftDrive   = null;
+    private DcMotor         rightDrive  = null;
+
+    /** The variable to store a reference to our color sensor hardware object */
+    NormalizedColorSensor colorSensor;
+
+    static final double     WHITE_THRESHOLD = 0.5;  // spans between 0.0 - 1.0 from dark to light
+    static final double     APPROACH_SPEED  = 0.25;
+
+    @Override
+    public void runOpMode() {
+
+        // Initialize the drive system variables.
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
+        // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Get a reference to our sensor object. It's recommended to use NormalizedColorSensor over
+        // ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while
+        // the values you get from ColorSensor are dependent on the specific sensor you're using.
+        colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");
+
+        // If necessary, turn ON the white LED (if there is no LED switch on the sensor)
+        if (colorSensor instanceof SwitchableLight) {
+            ((SwitchableLight)colorSensor).enableLight(true);
+        }
+
+        // Some sensors allow you to set your light sensor gain for optimal sensitivity...
+        // See the SensorColor sample in this folder for how to determine the optimal gain.
+        // 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)
+        // Abort this loop is started or stopped.
+        while (opModeInInit()) {
+
+            // Send telemetry message to signify robot waiting;
+            telemetry.addData("Status", "Ready to drive to white line.");    //
+
+            // Display the light level while we are waiting to start
+            getBrightness();
+        }
+
+        // Start the robot moving forward, and then begin looking for a white line.
+        leftDrive.setPower(APPROACH_SPEED);
+        rightDrive.setPower(APPROACH_SPEED);
+
+        // run until the white line is seen OR the driver presses STOP;
+        while (opModeIsActive() && (getBrightness() < WHITE_THRESHOLD)) {
+            sleep(5);
+        }
+
+        // Stop all motors
+        leftDrive.setPower(0);
+        rightDrive.setPower(0);
+    }
+
+    // to obtain reflected light, read the normalized values from the color sensor.  Return the Alpha channel.
+    double getBrightness() {
+        NormalizedRGBA colors = colorSensor.getNormalizedColors();
+        telemetry.addData("Light Level (0 to 1)",  "%4.2f", colors.alpha);
+        telemetry.update();
+
+        return colors.alpha;
+    }
+}

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

@@ -0,0 +1,167 @@
+/* Copyright (c) 2022 FIRST. 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.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.Range;
+
+/*
+ * This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java
+ * Please read the explanations in that Sample about how to use this class definition.
+ *
+ * This file defines a Java Class that performs all the setup and configuration for a sample robot's hardware (motors and sensors).
+ * It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
+ *
+ * This one file/class can be used by ALL of your OpModes without having to cut & paste the code each time.
+ *
+ * Where possible, the actual hardware objects are "abstracted" (or hidden) so the OpMode code just makes calls into the class,
+ * rather than accessing the internal hardware directly. This is why the objects are declared "private".
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*.
+ *
+ * Or... In OnBot Java, add a new file named RobotHardware.java, select this sample, and select Not an OpMode.
+ * Also add a new OpMode, select the sample ConceptExternalHardwareClass.java, and select TeleOp.
+ *
+ */
+
+public class RobotHardware {
+
+    /* Declare OpMode members. */
+    private LinearOpMode myOpMode = null;   // gain access to methods in the calling OpMode.
+
+    // Define Motor and Servo objects  (Make them private so they can't be accessed externally)
+    private DcMotor leftDrive   = null;
+    private DcMotor rightDrive  = null;
+    private DcMotor armMotor = null;
+    private Servo   leftHand = null;
+    private Servo   rightHand = null;
+
+    // Define Drive constants.  Make them public so they CAN be used by the calling OpMode
+    public static final double MID_SERVO       =  0.5 ;
+    public static final double HAND_SPEED      =  0.02 ;  // sets rate to move servo
+    public static final double ARM_UP_POWER    =  0.45 ;
+    public static final double ARM_DOWN_POWER  = -0.45 ;
+
+    // Define a constructor that allows the OpMode to pass a reference to itself.
+    public RobotHardware (LinearOpMode opmode) {
+        myOpMode = opmode;
+    }
+
+    /**
+     * Initialize all the robot's hardware.
+     * This method must be called ONCE when the OpMode is initialized.
+     * <p>
+     * All of the hardware devices are accessed via the hardware map, and initialized.
+     */
+    public void init()    {
+        // Define and Initialize Motors (note: need to use reference to actual OpMode).
+        leftDrive  = myOpMode.hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = myOpMode.hardwareMap.get(DcMotor.class, "right_drive");
+        armMotor   = myOpMode.hardwareMap.get(DcMotor.class, "arm");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
+        // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Define and initialize ALL installed servos.
+        leftHand = myOpMode.hardwareMap.get(Servo.class, "left_hand");
+        rightHand = myOpMode.hardwareMap.get(Servo.class, "right_hand");
+        leftHand.setPosition(MID_SERVO);
+        rightHand.setPosition(MID_SERVO);
+
+        myOpMode.telemetry.addData(">", "Hardware Initialized");
+        myOpMode.telemetry.update();
+    }
+
+    /**
+     * Calculates the left/right motor powers required to achieve the requested
+     * robot motions: Drive (Axial motion) and Turn (Yaw motion).
+     * Then sends these power levels to the motors.
+     *
+     * @param Drive     Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
+     * @param Turn      Right/Left turning power (-1.0 to 1.0) +ve is CW
+     */
+    public void driveRobot(double Drive, double Turn) {
+        // Combine drive and turn for blended motion.
+        double left  = Drive + Turn;
+        double right = Drive - Turn;
+
+        // Scale the values so neither exceed +/- 1.0
+        double max = Math.max(Math.abs(left), Math.abs(right));
+        if (max > 1.0)
+        {
+            left /= max;
+            right /= max;
+        }
+
+        // Use existing function to drive both wheels.
+        setDrivePower(left, right);
+    }
+
+    /**
+     * Pass the requested wheel motor powers to the appropriate hardware drive motors.
+     *
+     * @param leftWheel     Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
+     * @param rightWheel    Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
+     */
+    public void setDrivePower(double leftWheel, double rightWheel) {
+        // Output the values to the motor drives.
+        leftDrive.setPower(leftWheel);
+        rightDrive.setPower(rightWheel);
+    }
+
+    /**
+     * Pass the requested arm power to the appropriate hardware drive motor
+     *
+     * @param power driving power (-1.0 to 1.0)
+     */
+    public void setArmPower(double power) {
+        armMotor.setPower(power);
+    }
+
+    /**
+     * Send the two hand-servos to opposing (mirrored) positions, based on the passed offset.
+     *
+     * @param offset
+     */
+    public void setHandPositions(double offset) {
+        offset = Range.clip(offset, -0.5, 0.5);
+        leftHand.setPosition(MID_SERVO + offset);
+        rightHand.setPosition(MID_SERVO - offset);
+    }
+}

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

@@ -32,30 +32,39 @@ 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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.Range;
 
-/**
- * This OpMode uses the common Pushbot hardware class to define the devices on the robot.
- * All device access is managed through the HardwarePushbot class.
+/*
+ * This OpMode executes a POV Game style Teleop for a direct drive robot
  * The code is structured as a LinearOpMode
  *
- * This particular OpMode executes a POV Game style Teleop for a PushBot
  * In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
- * It raises and lowers the claw using the Gampad Y and A buttons respectively.
+ * It raises and lowers the arm using the Gamepad Y and A buttons respectively.
  * It also opens and closes the claws slowly using the left and right Bumper buttons.
  *
- * Use Android Studios 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
+ * 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="Pushbot: Teleop POV", group="Pushbot")
+@TeleOp(name="Robot: Teleop POV", group="Robot")
 @Disabled
-public class PushbotTeleopPOV_Linear extends LinearOpMode {
+public class RobotTeleopPOV_Linear extends LinearOpMode {
 
     /* Declare OpMode members. */
-    HardwarePushbot robot           = new HardwarePushbot();   // Use a Pushbot's hardware
-    double          clawOffset      = 0;                       // Servo mid position
-    final double    CLAW_SPEED      = 0.02 ;                   // sets rate to move servo
+    public DcMotor  leftDrive   = null;
+    public DcMotor  rightDrive  = null;
+    public DcMotor  leftArm     = null;
+    public Servo    leftClaw    = null;
+    public Servo    rightClaw   = null;
+
+    double clawOffset = 0;
+
+    public static final double MID_SERVO   =  0.5 ;
+    public static final double CLAW_SPEED  = 0.02 ;                 // sets rate to move servo
+    public static final double ARM_UP_POWER    =  0.45 ;
+    public static final double ARM_DOWN_POWER  = -0.45 ;
 
     @Override
     public void runOpMode() {
@@ -65,13 +74,29 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
         double turn;
         double max;
 
-        /* Initialize the hardware variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
+        // Define and Initialize Motors
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+        leftArm    = hardwareMap.get(DcMotor.class, "left_arm");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left stick forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
+        // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Define and initialize ALL installed servos.
+        leftClaw  = hardwareMap.get(Servo.class, "left_hand");
+        rightClaw = hardwareMap.get(Servo.class, "right_hand");
+        leftClaw.setPosition(MID_SERVO);
+        rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData("Say", "Hello Driver");    //
+        telemetry.addData(">", "Robot Ready.  Press Play.");    //
         telemetry.update();
 
         // Wait for the game to start (driver presses PLAY)
@@ -80,7 +105,7 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
         // run until the end of the match (driver presses STOP)
         while (opModeIsActive()) {
 
-            // Run wheels in POV mode (note: The joystick goes negative when pushed forwards, so negate it)
+            // Run wheels in POV mode (note: The joystick goes negative when pushed forward, so negate it)
             // In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
             // This way it's also easy to just drive straight, or just turn.
             drive = -gamepad1.left_stick_y;
@@ -99,8 +124,8 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
             }
 
             // Output the safe vales to the motor drives.
-            robot.leftDrive.setPower(left);
-            robot.rightDrive.setPower(right);
+            leftDrive.setPower(left);
+            rightDrive.setPower(right);
 
             // Use gamepad left & right Bumpers to open and close the claw
             if (gamepad1.right_bumper)
@@ -110,16 +135,16 @@ public class PushbotTeleopPOV_Linear extends LinearOpMode {
 
             // Move both servos to new position.  Assume servos are mirror image of each other.
             clawOffset = Range.clip(clawOffset, -0.5, 0.5);
-            robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
-            robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
+            leftClaw.setPosition(MID_SERVO + clawOffset);
+            rightClaw.setPosition(MID_SERVO - clawOffset);
 
             // Use gamepad buttons to move arm up (Y) and down (A)
             if (gamepad1.y)
-                robot.leftArm.setPower(robot.ARM_UP_POWER);
+                leftArm.setPower(ARM_UP_POWER);
             else if (gamepad1.a)
-                robot.leftArm.setPower(robot.ARM_DOWN_POWER);
+                leftArm.setPower(ARM_DOWN_POWER);
             else
-                robot.leftArm.setPower(0.0);
+                leftArm.setPower(0.0);
 
             // Send telemetry message to signify robot running;
             telemetry.addData("claw",  "Offset = %.2f", clawOffset);

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

@@ -32,44 +32,69 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
 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.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.Range;
 
-/**
- * This file provides basic Telop driving for a Pushbot robot.
+/*
+ * This OpMode executes a Tank Drive control TeleOp a direct drive robot
  * The code is structured as an Iterative OpMode
  *
- * This OpMode uses the common Pushbot hardware class to define the devices on the robot.
- * All device access is managed through the HardwarePushbot class.
- *
- * This particular OpMode executes a basic Tank Drive Teleop for a PushBot
- * It raises and lowers the claw using the Gampad Y and A buttons respectively.
+ * In this mode, the left and right joysticks control the left and right motors respectively.
+ * Pushing a joystick forward will make the attached motor drive forward.
+ * It raises and lowers the claw using the Gamepad Y and A buttons respectively.
  * It also opens and closes the claws slowly using the left and right Bumper buttons.
  *
- * Use Android Studios 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
+ * 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="Pushbot: Teleop Tank", group="Pushbot")
+@TeleOp(name="Robot: Teleop Tank", group="Robot")
 @Disabled
-public class PushbotTeleopTank_Iterative extends OpMode{
+public class RobotTeleopTank_Iterative extends OpMode{
 
     /* Declare OpMode members. */
-    HardwarePushbot robot       = new HardwarePushbot(); // use the class created to define a Pushbot's hardware
-    double          clawOffset  = 0.0 ;                  // Servo mid position
-    final double    CLAW_SPEED  = 0.02 ;                 // sets rate to move servo
+    public DcMotor  leftDrive   = null;
+    public DcMotor  rightDrive  = null;
+    public DcMotor  leftArm     = null;
+    public Servo    leftClaw    = null;
+    public Servo    rightClaw   = null;
+
+    double clawOffset = 0;
+
+    public static final double MID_SERVO   =  0.5 ;
+    public static final double CLAW_SPEED  = 0.02 ;        // sets rate to move servo
+    public static final double ARM_UP_POWER    =  0.50 ;   // Run arm motor up at 50% power
+    public static final double ARM_DOWN_POWER  = -0.25 ;   // Run arm motor down at -25% power
 
     /*
      * Code to run ONCE when the driver hits INIT
      */
     @Override
     public void init() {
-        /* Initialize the hardware variables.
-         * The init() method of the hardware class does all the work here
-         */
-        robot.init(hardwareMap);
+        // Define and Initialize Motors
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+        leftArm    = hardwareMap.get(DcMotor.class, "left_arm");
+
+        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
+        // Pushing the left and right sticks forward MUST make robot go forward. So adjust these two lines based on your first test drive.
+        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
+        leftDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
+        // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Define and initialize ALL installed servos.
+        leftClaw  = hardwareMap.get(Servo.class, "left_hand");
+        rightClaw = hardwareMap.get(Servo.class, "right_hand");
+        leftClaw.setPosition(MID_SERVO);
+        rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData("Say", "Hello Driver");    //
+        telemetry.addData(">", "Robot Ready.  Press Play.");    //
     }
 
     /*
@@ -94,12 +119,12 @@ public class PushbotTeleopTank_Iterative extends OpMode{
         double left;
         double right;
 
-        // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
+        // Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it)
         left = -gamepad1.left_stick_y;
         right = -gamepad1.right_stick_y;
 
-        robot.leftDrive.setPower(left);
-        robot.rightDrive.setPower(right);
+        leftDrive.setPower(left);
+        rightDrive.setPower(right);
 
         // Use gamepad left & right Bumpers to open and close the claw
         if (gamepad1.right_bumper)
@@ -109,16 +134,16 @@ public class PushbotTeleopTank_Iterative extends OpMode{
 
         // Move both servos to new position.  Assume servos are mirror image of each other.
         clawOffset = Range.clip(clawOffset, -0.5, 0.5);
-        robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
-        robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);
+        leftClaw.setPosition(MID_SERVO + clawOffset);
+        rightClaw.setPosition(MID_SERVO - clawOffset);
 
         // Use gamepad buttons to move the arm up (Y) and down (A)
         if (gamepad1.y)
-            robot.leftArm.setPower(robot.ARM_UP_POWER);
+            leftArm.setPower(ARM_UP_POWER);
         else if (gamepad1.a)
-            robot.leftArm.setPower(robot.ARM_DOWN_POWER);
+            leftArm.setPower(ARM_DOWN_POWER);
         else
-            robot.leftArm.setPower(0.0);
+            leftArm.setPower(0.0);
 
         // Send telemetry message to signify robot running;
         telemetry.addData("claw",  "Offset = %.2f", clawOffset);

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

@@ -33,14 +33,13 @@ import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.robotcore.internal.system.Deadline;
 
 import java.util.concurrent.TimeUnit;
 
 /*
- * Display patterns of a REV Robotics Blinkin LED Driver.
+ * This OpMode demonstrates use of the REV Robotics Blinkin LED Driver.
  * AUTO mode cycles through all of the patterns.
  * MANUAL mode allows the user to manually change patterns using the
  * left and right bumpers of a gamepad.

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

@@ -1,167 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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 android.app.Activity;
-import android.graphics.Color;
-import android.view.View;
-
-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.ColorSensor;
-import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
-
-/*
- *
- * This is an example LinearOpMode that shows how to use
- * the Adafruit RGB Sensor.  It assumes that the I2C
- * cable for the sensor is connected to an I2C port on the
- * Core Device Interface Module.
- *
- * It also assuems that the LED pin of the sensor is connected
- * to the digital signal pin of a digital port on the
- * Core Device Interface Module.
- *
- * You can use the digital port to turn the sensor's onboard
- * LED on or off.
- *
- * The op mode assumes that the Core Device Interface Module
- * is configured with a name of "dim" and that the Adafruit color sensor
- * is configured as an I2C device with a name of "sensor_color".
- *
- * It also assumes that the LED pin of the RGB sensor
- * is connected to the signal pin of digital port #5 (zero indexed)
- * of the Core Device Interface Module.
- *
- * You can use the X button on gamepad1 to toggle the LED on and off.
- *
- * 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 = "Sensor: AdafruitRGB", group = "Sensor")
-@Disabled                            // Comment this out to add to the opmode list
-public class SensorAdafruitRGB extends LinearOpMode {
-
-  ColorSensor sensorRGB;
-  DeviceInterfaceModule cdim;
-
-  // we assume that the LED pin of the RGB sensor is connected to
-  // digital port 5 (zero indexed).
-  static final int LED_CHANNEL = 5;
-
-  @Override
-  public void runOpMode() {
-
-    // hsvValues is an array that will hold the hue, saturation, and value information.
-    float hsvValues[] = {0F,0F,0F};
-
-    // values is a reference to the hsvValues array.
-    final float values[] = hsvValues;
-
-    // get a reference to the RelativeLayout so we can change the background
-    // color of the Robot Controller app to match the hue detected by the RGB sensor.
-    int relativeLayoutId = hardwareMap.appContext.getResources().getIdentifier("RelativeLayout", "id", hardwareMap.appContext.getPackageName());
-    final View relativeLayout = ((Activity) hardwareMap.appContext).findViewById(relativeLayoutId);
-
-    // bPrevState and bCurrState represent the previous and current state of the button.
-    boolean bPrevState = false;
-    boolean bCurrState = false;
-
-    // bLedOn represents the state of the LED.
-    boolean bLedOn = true;
-
-    // get a reference to our DeviceInterfaceModule object.
-    cdim = hardwareMap.deviceInterfaceModule.get("dim");
-
-    // set the digital channel to output mode.
-    // remember, the Adafruit sensor is actually two devices.
-    // It's an I2C sensor and it's also an LED that can be turned on or off.
-    cdim.setDigitalChannelMode(LED_CHANNEL, DigitalChannel.Mode.OUTPUT);
-
-    // get a reference to our ColorSensor object.
-    sensorRGB = hardwareMap.colorSensor.get("sensor_color");
-
-    // turn the LED on in the beginning, just so user will know that the sensor is active.
-    cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
-
-    // wait for the start button to be pressed.
-    waitForStart();
-
-    // loop and read the RGB data.
-    // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
-    while (opModeIsActive())  {
-
-      // check the status of the x button on gamepad.
-      bCurrState = gamepad1.x;
-
-      // check for button-press state transitions.
-      if ((bCurrState == true) && (bCurrState != bPrevState))  {
-
-        // button is transitioning to a pressed state. Toggle the LED.
-        bLedOn = !bLedOn;
-        cdim.setDigitalChannelState(LED_CHANNEL, bLedOn);
-      }
-
-      // update previous state variable.
-      bPrevState = bCurrState;
-
-      // convert the RGB values to HSV values.
-      Color.RGBToHSV((sensorRGB.red() * 255) / 800, (sensorRGB.green() * 255) / 800, (sensorRGB.blue() * 255) / 800, hsvValues);
-
-      // send the info back to driver station using telemetry function.
-      telemetry.addData("LED", bLedOn ? "On" : "Off");
-      telemetry.addData("Clear", sensorRGB.alpha());
-      telemetry.addData("Red  ", sensorRGB.red());
-      telemetry.addData("Green", sensorRGB.green());
-      telemetry.addData("Blue ", sensorRGB.blue());
-      telemetry.addData("Hue", hsvValues[0]);
-
-      // change the background color to match the color detected by the RGB sensor.
-      // pass a reference to the hue, saturation, and value array as an argument
-      // to the HSVToColor method.
-      relativeLayout.post(new Runnable() {
-        public void run() {
-          relativeLayout.setBackgroundColor(Color.HSVToColor(0xff, values));
-        }
-      });
-
-      telemetry.update();
-    }
-
-    // Set the panel back to the default color
-    relativeLayout.post(new Runnable() {
-      public void run() {
-        relativeLayout.setBackgroundColor(Color.WHITE);
-      }
-    });
-  }
-}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java

@@ -34,7 +34,6 @@ import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
 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.Func;
 import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@@ -46,16 +45,19 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
 
 import java.util.Locale;
 
-/**
- * {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
+/*
+ * This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
+ *
+ * Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
+ * Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  *
  * @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
  */
 @TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
-@Disabled                            // Comment this out to add to the opmode list
+@Disabled   // Comment this out to add to the OpMode list
 public class SensorBNO055IMU extends LinearOpMode
     {
     //----------------------------------------------------------------------------------------------
@@ -81,7 +83,7 @@ public class SensorBNO055IMU extends LinearOpMode
         BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
         parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
         parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
-        parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode
+        parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
         parameters.loggingEnabled      = true;
         parameters.loggingTag          = "IMU";
         parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMUCalibration.java

@@ -29,13 +29,11 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
-import com.qualcomm.hardware.adafruit.AdafruitBNO055IMU;
 import com.qualcomm.hardware.bosch.BNO055IMU;
 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.util.ReadWriteFile;
-
 import org.firstinspires.ftc.robotcore.external.Func;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
@@ -46,60 +44,60 @@ import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
 import java.io.File;
 import java.util.Locale;
 
-/**
- * {@link SensorBNO055IMUCalibration} calibrates the IMU accelerometer per
+/*
+ * This OpMode calibrates a BNO055 IMU per
  * "Section 3.11 Calibration" of the BNO055 specification.
  *
- * <p>Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer
- * (which is not used by the default {@link BNO055IMU.SensorMode#IMU
- * SensorMode#IMU}), the BNO055 is internally self-calibrating and thus can be very successfully
- * used without manual intervention. That said, performing a one-time calibration, saving the
- * results persistently, then loading them again at each run can help reduce the time that automatic
- * calibration requires.</p>
+ *  Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
+ *  Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
  *
- * <p>This summary of the calibration process, from <a href="http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html">
- * Intel</a>, is informative:</p>
+ * Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer (which is not used by the
+ * default "IMU" SensorMode), the BNO055 is internally self-calibrating and thus can be very successfully used without
+ * manual intervention. That said, performing a one-time calibration, saving the results persistently, then loading them
+ * again at each run can help reduce the time that automatic calibration requires.
  *
- * <p>"This device requires calibration in order to operate accurately. [...] Calibration data is
+ * This summary of the calibration process from Intel is informative:
+ * http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html
+ *
+ * "This device requires calibration in order to operate accurately. [...] Calibration data is
  * lost on a power cycle. See one of the examples for a description of how to calibrate the device,
- * but in essence:</p>
+ * but in essence:
  *
- * <p>There is a calibration status register available [...] that returns the calibration status
+ * There is a calibration status register available [...] that returns the calibration status
  * of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS).
  * Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally]
  * involves certain motions to get all 4 values at 3. The motions are as follows (though see the
- * datasheet for more information):</p>
+ * datasheet for more information):
  *
- * <li>
- *     <ol>GYR: Simply let the sensor sit flat for a few seconds.</ol>
- *     <ol>ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
- *              degrees, hold for a few seconds, then continue rotating another 45 degrees and
- *              hold, etc. 6 or more movements of this type may be required. You can move through
- *              any axis you desire, but make sure that the device is lying at least once
- *              perpendicular to the x, y, and z axis.</ol>
- *     <ol>MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
- *     <ol>SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
- *              slowly moving the device though various axes until it does."</ol>
- * </li>
+ *     1. GYR: Simply let the sensor sit flat for a few seconds.</ol>
+ *     2. ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
+ *             degrees, hold for a few seconds, then continue rotating another 45 degrees and
+ *             hold, etc. 6 or more movements of this type may be required. You can move through
+ *             any axis you desire, but make sure that the device is lying at least once
+ *             perpendicular to the x, y, and z axis.</ol>
+ *     3. MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
+ *     4. SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
+ *             slowly moving the device though various axes until it does."</ol>
  *
- * <p>To calibrate the IMU, run this sample opmode with a gamepad attached to the driver station.
+ * To calibrate the IMU, run this sample OpMode with a gamepad attached to the driver station.
  * Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A'
  * button on the gamepad to write the calibration to a file. That file can then be indicated
- * later when running an opmode which uses the IMU.</p>
+ * later when running an OpMode which uses the IMU.
  *
- * <p>Note: if your intended uses of the IMU do not include use of all its sensors (for exmaple,
+ * Note: if your intended uses of the IMU do not include use of all its sensors (for example,
  * you might not use the magnetometer), then it makes little sense for you to wait for full
  * calibration of the sensors you are not using before saving the calibration data. Indeed,
  * it appears that in a SensorMode that doesn't use the magnetometer (for example), the
- * magnetometer cannot actually be calibrated.</p>
+ * magnetometer cannot actually be calibrated.
  *
- * @see AdafruitBNO055IMU
- * @see BNO055IMU.Parameters#calibrationDataFile
- * @see <a href="https://www.bosch-sensortec.com/bst/products/all_products/bno055">BNO055 product page</a>
- * @see <a href="https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf">BNO055 specification</a>
+ * References:
+ * The AdafruitBNO055IMU Javadoc
+ * The BNO055IMU.Parameters.calibrationDataFile Javadoc
+ * The BNO055 product page: https://www.bosch-sensortec.com/bst/products/all_products/bno055
+ * The BNO055 datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf
  */
 @TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
-@Disabled                            // Uncomment this to add to the opmode list
+@Disabled                            // Uncomment this to add to the OpMode list
 public class SensorBNO055IMUCalibration extends LinearOpMode
     {
     //----------------------------------------------------------------------------------------------
@@ -122,7 +120,7 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
         telemetry.log().add("");
         telemetry.log().add("Please refer to the calibration instructions");
         telemetry.log().add("contained in the Adafruit IMU calibration");
-        telemetry.log().add("sample opmode.");
+        telemetry.log().add("sample OpMode.");
         telemetry.log().add("");
         telemetry.log().add("When sufficient calibration has been reached,");
         telemetry.log().add("press the 'A' button to write the current");
@@ -156,7 +154,7 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
 
                 // Save the calibration data to a file. You can choose whatever file
                 // name you wish here, but you'll want to indicate the same file name
-                // when you initialize the IMU in an opmode in which it is used. If you
+                // when you initialize the IMU in an OpMode in which it is used. If you
                 // have more than one IMU on your robot, you'll of course want to use
                 // different configuration file names for each.
                 String filename = "AdafruitIMUCalibration.json";
@@ -229,4 +227,4 @@ public class SensorBNO055IMUCalibration extends LinearOpMode
     String formatDegrees(double degrees){
         return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
     }
-}
+}

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

@@ -32,7 +32,6 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
 import android.app.Activity;
 import android.graphics.Color;
 import android.view.View;
-
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -40,12 +39,11 @@ import com.qualcomm.robotcore.hardware.DistanceSensor;
 import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
 import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 import com.qualcomm.robotcore.hardware.SwitchableLight;
-
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 
-/**
- * This is an example LinearOpMode that shows how to use a color sensor in a generic
- * way, regardless of which particular make or model of color sensor is used. The Op Mode
+/*
+ * This OpMode shows how to use a color sensor in a generic
+ * way, regardless of which particular make or model of color sensor is used. The OpMode
  * assumes that the color sensor is configured with a name of "sensor_color".
  *
  * There will be some variation in the values measured depending on the specific sensor you are using.
@@ -64,7 +62,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
  * and surface reflectivity. You should use a different sensor if you need precise distance measurements.
  *
  * 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 Op Mode to the Driver Station OpMode list
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Sensor: Color", group = "Sensor")
 @Disabled
@@ -78,13 +76,13 @@ public class SensorColor extends LinearOpMode {
    * robot. Note that you won't see anything change on the Driver Station, only on the Robot Controller. */
   View relativeLayout;
 
-  /**
-   * The runOpMode() method is the root of this Op Mode, as it is in all LinearOpModes.
+  /*
+   * The runOpMode() method is the root of this OpMode, as it is in all LinearOpModes.
    * Our implementation here, though is a bit unusual: we've decided to put all the actual work
    * in the runSample() method rather than directly in runOpMode() itself. The reason we do that is
    * that in this sample we're changing the background color of the robot controller screen as the
-   * Op Mode runs, and we want to be able to *guarantee* that we restore it to something reasonable
-   * and palatable when the Op Mode ends. The simplest way to do that is to use a try...finally
+   * OpMode runs, and we want to be able to *guarantee* that we restore it to something reasonable
+   * and palatable when the OpMode ends. The simplest way to do that is to use a try...finally
    * block around the main, core logic, and an easy way to make that all clear was to separate
    * the former from the latter in separate methods.
    */

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

@@ -1,107 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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 com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
-
-/*
- * This is an example LinearOpMode that shows how to use the digital inputs and outputs on the
- * the Modern Robotics Device Interface Module.  In addition, it shows how to use the Red and Blue LED
- *
- * This op mode assumes that there is a Device Interface Module attached, named 'dim'.
- * On this DIM there is a digital input named 'digin' and an output named 'digout'
- *
- * To fully exercise this sample, connect pin 3 of the digin connector to pin 3 of the digout.
- * Note: Pin 1 is indicated by the black stripe, so pin 3 is at the opposite end.
- *
- * The X button on the gamepad will be used to activate the digital output pin.
- * The Red/Blue LED will be used to indicate the state of the digital input pin.
- * Blue = false (0V), Red = true (5V)
- * If the two pins are linked, the gamepad will change the LED color.
- *
- * 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 = "Sensor: DIM DIO", group = "Sensor")
-@Disabled
-public class SensorDIO extends LinearOpMode {
-
-final int BLUE_LED_CHANNEL = 0;
-final int RED_LED_CHANNEL = 1;
-
-  @Override
-  public void runOpMode() {
-
-    boolean               inputPin;             // Input State
-    boolean               outputPin;            // Output State
-    DeviceInterfaceModule dim;                  // Device Object
-    DigitalChannel        digIn;                // Device Object
-    DigitalChannel        digOut;               // Device Object
-
-    // get a reference to a Modern Robotics DIM, and IO channels.
-    dim = hardwareMap.get(DeviceInterfaceModule.class, "dim");   //  Use generic form of device mapping
-    digIn  = hardwareMap.get(DigitalChannel.class, "digin");     //  Use generic form of device mapping
-    digOut = hardwareMap.get(DigitalChannel.class, "digout");    //  Use generic form of device mapping
-
-    digIn.setMode(DigitalChannel.Mode.INPUT);          // Set the direction of each channel
-    digOut.setMode(DigitalChannel.Mode.OUTPUT);
-
-    // wait for the start button to be pressed.
-    telemetry.addData(">", "Press play, and then user X button to set DigOut");
-    telemetry.update();
-    waitForStart();
-
-    while (opModeIsActive())  {
-
-        outputPin = gamepad1.x ;        //  Set the output pin based on x button
-        digOut.setState(outputPin);
-        inputPin = digIn.getState();    //  Read the input pin
-
-        // Display input pin state on LEDs
-        if (inputPin) {
-            dim.setLED(RED_LED_CHANNEL, true);
-            dim.setLED(BLUE_LED_CHANNEL, false);
-        }
-        else {
-            dim.setLED(RED_LED_CHANNEL, false);
-            dim.setLED(BLUE_LED_CHANNEL, true);
-        }
-
-        telemetry.addData("Output", outputPin );
-        telemetry.addData("Input", inputPin );
-        telemetry.addData("LED",   inputPin ? "Red" : "Blue" );
-        telemetry.update();
-    }
-  }
-}

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

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017 FIRST. All rights reserved.
+/* Copyright (c) 2024 FIRST. 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
@@ -35,51 +35,41 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DigitalChannel;
 
 /*
- * This is an example LinearOpMode that shows how to use
- * a REV Robotics Touch Sensor.
+ * This OpMode demonstrates how to use a digital channel.
  *
- * It assumes that the touch sensor is configured with a name of "sensor_digital".
+ * The OpMode assumes that the digital channel is configured with a name of "digitalTouch".
  *
  * 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.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
  */
-@TeleOp(name = "Sensor: Digital touch", group = "Sensor")
+@TeleOp(name = "Sensor: digital channel", group = "Sensor")
 @Disabled
 public class SensorDigitalTouch extends LinearOpMode {
-    /**
-     * The REV Robotics Touch Sensor
-     * is treated as a digital channel.  It is HIGH if the button is unpressed.
-     * It pulls LOW if the button is pressed.
-     *
-     * Also, when you connect a REV Robotics Touch Sensor to the digital I/O port on the
-     * Expansion Hub using a 4-wire JST cable, the second pin gets connected to the Touch Sensor.
-     * The lower (first) pin stays unconnected.*
-     */
-
-    DigitalChannel digitalTouch;  // Hardware Device Object
+    DigitalChannel digitalTouch;  // Digital channel Object
 
     @Override
     public void runOpMode() {
 
-        // get a reference to our digitalTouch object.
-        digitalTouch = hardwareMap.get(DigitalChannel.class, "sensor_digital");
+        // get a reference to our touchSensor object.
+        digitalTouch = hardwareMap.get(DigitalChannel.class, "digitalTouch");
 
-        // set the digital channel to input.
         digitalTouch.setMode(DigitalChannel.Mode.INPUT);
+        telemetry.addData("DigitalTouchSensorExample", "Press start to continue...");
+        telemetry.update();
 
         // wait for the start button to be pressed.
         waitForStart();
 
-        // while the op mode is active, loop and read the light levels.
+        // while the OpMode is active, loop and read the digital channel.
         // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
         while (opModeIsActive()) {
 
+            // button is pressed if value returned is LOW or false.
             // send the info back to driver station using telemetry function.
-            // if the digital channel returns true it's HIGH and the button is unpressed.
-            if (digitalTouch.getState() == true) {
-                telemetry.addData("Digital Touch", "Is Not Pressed");
+            if (digitalTouch.getState() == false) {
+                telemetry.addData("Button", "PRESSED");
             } else {
-                telemetry.addData("Digital Touch", "Is Pressed");
+                telemetry.addData("Button", "NOT PRESSED");
             }
 
             telemetry.update();

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

@@ -0,0 +1,149 @@
+/*
+Copyright (c) 2023 FIRST
+
+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.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;
+
+/*
+ * This OpMode illustrates how to use the DFRobot HuskyLens.
+ *
+ * The HuskyLens is a Vision Sensor with a built-in object detection model.  It can
+ * 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
+ * 
+ * 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
+ * a name of "huskylens".
+ *
+ * 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 = "Sensor: HuskyLens", group = "Sensor")
+@Disabled
+public class SensorHuskyLens extends LinearOpMode {
+
+    private final int READ_PERIOD = 1;
+
+    private HuskyLens huskyLens;
+
+    @Override
+    public void runOpMode()
+    {
+        huskyLens = hardwareMap.get(HuskyLens.class, "huskylens");
+
+        /*
+         * This sample rate limits the reads solely to allow a user time to observe
+         * what is happening on the Driver Station telemetry.  Typical applications
+         * would not likely rate limit.
+         */
+        Deadline rateLimit = new Deadline(READ_PERIOD, TimeUnit.SECONDS);
+
+        /*
+         * Immediately expire so that the first time through we'll do the read.
+         */
+        rateLimit.expire();
+
+        /*
+         * Basic check to see if the device is alive and communicating.  This is not
+         * technically necessary here as the HuskyLens class does this in its
+         * doInitialization() method which is called when the device is pulled out of
+         * the hardware map.  However, sometimes it's unclear why a device reports as
+         * failing on initialization.  In the case of this device, it's because the
+         * call to knock() failed.
+         */
+        if (!huskyLens.knock()) {
+            telemetry.addData(">>", "Problem communicating with " + huskyLens.getDeviceName());
+        } else {
+            telemetry.addData(">>", "Press start to continue");
+        }
+
+        /*
+         * The device uses the concept of an algorithm to determine what types of
+         * objects it will look for and/or what mode it is in.  The algorithm may be
+         * selected using the scroll wheel on the device, or via software as shown in
+         * the call to selectAlgorithm().
+         *
+         * The SDK itself does not assume that the user wants a particular algorithm on
+         * startup, and hence does not set an algorithm.
+         *
+         * 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.
+         */
+        huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);
+
+        telemetry.update();
+        waitForStart();
+
+        /*
+         * Looking for AprilTags per the call to selectAlgorithm() above.  A handy grid
+         * for testing may be found at https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336#target_20.
+         *
+         * Note again that the device only recognizes the 36h11 family of tags out of the box.
+         */
+        while(opModeIsActive()) {
+            if (!rateLimit.hasExpired()) {
+                continue;
+            }
+            rateLimit.reset();
+
+            /*
+             * All algorithms, except for LINE_TRACKING, return a list of Blocks where a
+             * Block represents the outline of a recognized object along with its ID number.
+             * ID numbers allow you to identify what the device saw.  See the HuskyLens documentation
+             * referenced in the header comment above for more information on IDs and how to
+             * assign them to objects.
+             *
+             * Returns an empty array if no objects are seen.
+             */
+            HuskyLens.Block[] blocks = huskyLens.blocks();
+            telemetry.addData("Block count", blocks.length);
+            for (int i = 0; i < blocks.length; i++) {
+                telemetry.addData("Block", blocks[i].toString());
+            }
+
+            telemetry.update();
+        }
+    }
+}

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

@@ -0,0 +1,181 @@
+/* Copyright (c) 2022 FIRST. 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.rev.RevHubOrientationOnRobot;
+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.IMU;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
+import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
+
+/*
+ * This OpMode shows how to use the new universal IMU interface. This
+ * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
+ * on the robot with the name "imu".
+ *
+ * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
+ * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
+ *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X)
+ *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y)
+ *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z)
+ *
+ * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
+ *
+ * This specific sample DOES NOT assume that the Hub is mounted on one of the three orthogonal
+ * 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.
+ *
+ * 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
+ * illustrated here.
+ *
+ * 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.
+ *
+ * Finally, edit this OpMode to use at least one angle around an axis to orient your Hub.
+ */
+@TeleOp(name = "Sensor: IMU Non-Orthogonal", group = "Sensor")
+@Disabled     // Comment this out to add to the OpMode list
+public class SensorIMUNonOrthogonal extends LinearOpMode
+{
+    // The IMU sensor object
+    IMU imu;
+
+    //----------------------------------------------------------------------------------------------
+    // Main logic
+    //----------------------------------------------------------------------------------------------
+
+    @Override public void runOpMode() throws InterruptedException {
+
+        // Retrieve and initialize the IMU.
+        // This sample expects the IMU to be in a REV Hub and named "imu".
+        imu = hardwareMap.get(IMU.class, "imu");
+
+        /* Define how the hub is mounted to the robot to get the correct Yaw, Pitch and Roll values.
+         *
+         * You can apply up to three axis rotations to orient your Hub according to how it's mounted on the robot.
+         *
+         * The starting point for these rotations is the "Default" Hub orientation, which is:
+         * 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.
+         *
+         * 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
+         * used for the results the IMU gives us. In the starting orientation, the Hub axes are
+         * aligned with the Robot Coordinate System:
+         *
+         * X Axis:  Starting at Center of Hub, pointing out towards I2C connectors
+         * Y Axis:  Starting at Center of Hub, pointing out towards USB connectors
+         * Z Axis:  Starting at Center of Hub, pointing Up through LOGO
+         *
+         * Positive rotation is defined by right-hand rule with thumb pointing in +ve direction on axis.
+         *
+         * Some examples.
+         *
+         * ----------------------------------------------------------------------------------------------------------------------------------
+         * Example A) Assume that the hub is mounted on a sloped plate at the back of the robot, with the USB ports coming out the top of the hub.
+         *  The plate is tilted UP 60 degrees from horizontal.
+         *
+         *  To get the "Default" hub into this configuration you would just need a single rotation.
+         *  1) Rotate the Hub +60 degrees around the X axis to tilt up the front edge.
+         *  2) No rotation around the Y or Z axes.
+         *
+         *  So the X,Y,Z rotations would be 60,0,0
+         *
+         * ----------------------------------------------------------------------------------------------------------------------------------
+         * Example B) Assume that the hub is laying flat on the chassis, but it has been twisted 30 degrees towards the right front wheel to make
+         *  the USB cable accessible.
+         *
+         *  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.
+         *
+         *  So the X,Y,Z rotations would be 0,0,-30
+         *
+         * ----------------------------------------------------------------------------------------------------------------------------------
+         *  Example C) Assume that the hub is mounted on a vertical plate on the right side of the robot, with the Logo facing out, and the
+         *  Hub rotated so that the USB ports are facing down 30 degrees towards the back wheels of the robot.
+         *
+         *  To get the "Default" hub into this configuration will require several rotations.
+         *  1) Rotate the hub +90 degrees around the X axis to get it standing upright with the logo pointing backwards on the robot
+         *  2) Next, rotate the hub +90 around the Y axis to get it facing to the right.
+         *  3) Finally rotate the hub +120 degrees around the Z axis to take the USB ports from vertical to sloping down 30 degrees and
+         *     facing towards the back of the robot.
+         *
+         *  So the X,Y,Z rotations would be 90,90,120
+         */
+
+        // The next three lines define the desired axis rotations.
+        // To Do: EDIT these values to match YOUR mounting configuration.
+        double xRotation = 0;  // enter the desired X rotation angle here.
+        double yRotation = 0;  // enter the desired Y rotation angle here.
+        double zRotation = 0;  // enter the desired Z rotation angle here.
+
+        Orientation hubRotation = xyzOrientation(xRotation, yRotation, zRotation);
+
+        // Now initialize the IMU with this mounting orientation
+        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(hubRotation);
+        imu.initialize(new IMU.Parameters(orientationOnRobot));
+
+        // Loop and update the dashboard
+        while (!isStopRequested()) {
+            telemetry.addData("Hub orientation", "X=%.1f,  Y=%.1f,  Z=%.1f \n", xRotation, yRotation, zRotation);
+
+            // Check to see if heading reset is requested
+            if (gamepad1.y) {
+                telemetry.addData("Yaw", "Resetting\n");
+                imu.resetYaw();
+            } else {
+                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
+            }
+
+            // Retrieve Rotational Angles and Velocities
+            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
+
+            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
+            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
+            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
+            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
+            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
+            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
+            telemetry.update();
+        }
+    }
+}

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

@@ -0,0 +1,143 @@
+/* Copyright (c) 2022 FIRST. 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.rev.RevHubOrientationOnRobot;
+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.IMU;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+/*
+ * This OpMode shows how to use the new universal IMU interface. This
+ * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
+ * on the robot with the name "imu".
+ *
+ * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
+ * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
+ *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
+ *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
+ *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
+ *
+ * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
+ *
+ * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
+ * (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.
+ *
+ * This "Orthogonal" requirement means that:
+ *
+ * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
+ *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
+ *
+ * 2) The USB ports can only be pointing in one of the same six directions:<br>
+ *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
+ *
+ * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
+ *    logoFacingDirection<br>
+ *    usbFacingDirection
+ *
+ * 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.
+ *
+ * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
+ * to use those parameters.
+ */
+@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
+@Disabled   // Comment this out to add to the OpMode list
+public class SensorIMUOrthogonal extends LinearOpMode
+{
+    // The IMU sensor object
+    IMU imu;
+
+    //----------------------------------------------------------------------------------------------
+    // Main logic
+    //----------------------------------------------------------------------------------------------
+
+    @Override public void runOpMode() throws InterruptedException {
+
+        // Retrieve and initialize the IMU.
+        // This sample expects the IMU to be in a REV Hub and named "imu".
+        imu = hardwareMap.get(IMU.class, "imu");
+
+        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
+         *
+         * Two input parameters are required to fully specify the Orientation.
+         * 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.
+         */
+
+        /* The next two lines define Hub orientation.
+         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
+         *
+         * To Do:  EDIT these two lines to match YOUR mounting configuration.
+         */
+        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
+        RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+
+        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
+
+        // Now initialize the IMU with this mounting orientation
+        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
+        imu.initialize(new IMU.Parameters(orientationOnRobot));
+
+        // Loop and update the dashboard
+        while (!isStopRequested()) {
+
+            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
+
+            // Check to see if heading reset is requested
+            if (gamepad1.y) {
+                telemetry.addData("Yaw", "Resetting\n");
+                imu.resetYaw();
+            } else {
+                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
+            }
+
+            // Retrieve Rotational Angles and Velocities
+            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
+
+            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
+            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
+            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
+            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
+            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
+            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
+            telemetry.update();
+        }
+    }
+}

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

@@ -36,7 +36,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gyroscope;
 import com.qualcomm.robotcore.hardware.IntegratingGyroscope;
 import com.qualcomm.robotcore.util.ElapsedTime;
-
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
@@ -44,11 +43,11 @@ import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
 import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
 
 /*
- * This is an example LinearOpMode that shows how to use Kauai Labs navX Micro Robotics Navigation
+ * This OpMode shows how to use Kauai Labs navX Micro Robotics Navigation
  * Sensor. It assumes that the sensor is configured with a name of "navx".
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Sensor: KL navX Micro", group = "Sensor")
 @Disabled

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

@@ -32,7 +32,6 @@ package org.firstinspires.ftc.robotcontroller.external.samples;
 import android.app.Activity;
 import android.graphics.Color;
 import android.view.View;
-
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -40,16 +39,16 @@ import com.qualcomm.robotcore.hardware.ColorSensor;
 
 /*
  *
- * This is an example LinearOpMode that shows how to use
+ * This OpMode that shows how to use
  * a Modern Robotics Color Sensor.
  *
- * The op mode assumes that the color sensor
+ * The OpMode assumes that the color sensor
  * is configured with a name of "sensor_color".
  *
  * You can use the X button on gamepad1 to toggle the LED on and off.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Sensor: MR Color", group = "Sensor")
 @Disabled
@@ -88,7 +87,7 @@ public class SensorMRColor extends LinearOpMode {
     // wait for the start button to be pressed.
     waitForStart();
 
-    // while the op mode is active, loop and read the RGB data.
+    // while the OpMode is active, loop and read the RGB data.
     // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
     while (opModeIsActive()) {
 

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

@@ -1,148 +0,0 @@
-/* Copyright (c) 2017 FIRST. 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.modernrobotics.ModernRoboticsI2cCompassSensor;
-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.CompassSensor;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
-
-/**
- * The {@link SensorMRCompass} op mode provides a demonstration of the
- * functionality provided by the Modern Robotics compass sensor.
- *
- * The op mode assumes that the MR compass is configured with a name of "compass".
- *
- * 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 <a href="http://www.modernroboticsinc.com/compass">MR Compass Sensor</a>
- */
-@TeleOp(name = "Sensor: MR compass", group = "Sensor")
-@Disabled   // comment out or remove this line to enable this opmode
-public class SensorMRCompass extends LinearOpMode {
-
-    ModernRoboticsI2cCompassSensor compass;
-    ElapsedTime                    timer = new ElapsedTime();
-
-    @Override public void runOpMode() {
-
-        // get a reference to our compass
-        compass = hardwareMap.get(ModernRoboticsI2cCompassSensor.class, "compass");
-
-        telemetry.log().setCapacity(20);
-        telemetry.log().add("The compass sensor operates quite well out-of-the");
-        telemetry.log().add("box, as shipped by the manufacturer. Precision can");
-        telemetry.log().add("however be somewhat improved with calibration.");
-        telemetry.log().add("");
-        telemetry.log().add("To calibrate the compass once the opmode is");
-        telemetry.log().add("started, make sure the compass is level, then");
-        telemetry.log().add("press 'A' on the gamepad. Next, slowly rotate the ");
-        telemetry.log().add("compass in a full 360 degree circle while keeping");
-        telemetry.log().add("it level. When complete, press 'B'.");
-
-        // wait for the start button to be pressed
-        waitForStart();
-        telemetry.log().clear();
-
-        while (opModeIsActive()) {
-
-            // If the A button is pressed, start calibration and wait for the A button to rise
-            if (gamepad1.a && !compass.isCalibrating()) {
-
-                telemetry.log().clear();
-                telemetry.log().add("Calibration started");
-                telemetry.log().add("Slowly rotate compass 360deg");
-                telemetry.log().add("Press 'B' when complete");
-                compass.setMode(CompassSensor.CompassMode.CALIBRATION_MODE);
-                timer.reset();
-
-                while (gamepad1.a && opModeIsActive()) {
-                    doTelemetry();
-                    idle();
-                }
-            }
-
-            // If the B button is pressed, stop calibration and wait for the B button to rise
-            if (gamepad1.b && compass.isCalibrating()) {
-
-                telemetry.log().clear();
-                telemetry.log().add("Calibration complete");
-                compass.setMode(CompassSensor.CompassMode.MEASUREMENT_MODE);
-
-                if (compass.calibrationFailed()) {
-                    telemetry.log().add("Calibration failed");
-                    compass.writeCommand(ModernRoboticsI2cCompassSensor.Command.NORMAL);
-                }
-
-                while (gamepad1.a && opModeIsActive()) {
-                    doTelemetry();
-                    idle();
-                }
-            }
-
-            doTelemetry();
-        }
-    }
-
-    protected void doTelemetry() {
-
-        if (compass.isCalibrating()) {
-
-            telemetry.addData("compass", "calibrating %s", Math.round(timer.seconds())%2==0 ? "|.." : "..|");
-
-        } else {
-
-            // getDirection() returns a traditional compass heading in the range [0,360),
-            // with values increasing in a CW direction
-            telemetry.addData("heading", "%.1f", compass.getDirection());
-
-            // getAcceleration() returns the current 3D acceleration experienced by
-            // the sensor. This is used internally to the sensor to compute its tilt and thence
-            // to correct the magnetometer reading to produce tilt-corrected values in getDirection()
-            Acceleration accel = compass.getAcceleration();
-            double accelMagnitude = Math.sqrt(accel.xAccel*accel.xAccel + accel.yAccel*accel.yAccel + accel.zAccel*accel.zAccel);
-            telemetry.addData("accel", accel);
-            telemetry.addData("accel magnitude", "%.3f", accelMagnitude);
-
-            // getMagneticFlux returns the 3D magnetic field flux experienced by the sensor
-            telemetry.addData("mag flux", compass.getMagneticFlux());
-        }
-
-        // the command register provides status data
-        telemetry.addData("command", "%s", compass.readCommand());
-
-        telemetry.update();
-    }
-}

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

@@ -33,29 +33,27 @@ import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
 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.Gyroscope;
 import com.qualcomm.robotcore.hardware.IntegratingGyroscope;
 import com.qualcomm.robotcore.util.ElapsedTime;
-
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
 
 /*
- * This is an example LinearOpMode that shows how to use the Modern Robotics Gyro.
+ * This OpMode shows how to use the Modern Robotics Gyro.
  *
- * The op mode assumes that the gyro sensor is attached to a Device Interface Module
+ * The OpMode assumes that the gyro sensor is attached to a Device Interface Module
  * I2C channel and is configured with a name of "gyro".
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
 */
 @TeleOp(name = "Sensor: MR Gyro", group = "Sensor")
 @Disabled
 public class SensorMRGyro extends LinearOpMode {
 
-  /** In this sample, for illustration purposes we use two interfaces on the one gyro object.
+  /* In this sample, for illustration purposes we use two interfaces on the one gyro object.
    * That's likely atypical: you'll probably use one or the other in any given situation,
    * depending on what you're trying to do. {@link IntegratingGyroscope} (and it's base interface,
    * {@link Gyroscope}) are common interfaces supported by possibly several different gyro
@@ -83,7 +81,7 @@ public class SensorMRGyro extends LinearOpMode {
     // A similar approach will work for the Gyroscope interface, if that's all you need.
 
     // Start calibrating the gyro. This takes a few seconds and is worth performing
-    // during the initialization phase at the start of each opMode.
+    // during the initialization phase at the start of each OpMode.
     telemetry.log().add("Gyro Calibrating. Do Not Move!");
     modernRoboticsI2cGyro.calibrate();
 

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

@@ -35,12 +35,11 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.OpticalDistanceSensor;
 
 /*
- * This is an example LinearOpMode that shows how to use
- * a Modern Robotics Optical Distance Sensor
+ * This OpMode shows how to use a Modern Robotics Optical Distance Sensor
  * It assumes that the ODS sensor is configured with a name of "sensor_ods".
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 @TeleOp(name = "Sensor: MR ODS", group = "Sensor")
 @Disabled
@@ -57,7 +56,7 @@ public class SensorMROpticalDistance extends LinearOpMode {
     // wait for the start button to be pressed.
     waitForStart();
 
-    // while the op mode is active, loop and read the light levels.
+    // while the OpMode is active, loop and read the light levels.
     // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
     while (opModeIsActive()) {
 

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

@@ -33,22 +33,20 @@ import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;
 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.DistanceUnit;
 
-/**
- * {@link SensorMRRangeSensor} illustrates how to use the Modern Robotics
- * Range Sensor.
+/*
+ * This OpMode illustrates how to use the Modern Robotics Range Sensor.
  *
- * The op mode assumes that the range sensor is configured with a name of "sensor_range".
+ * The OpMode assumes that the range sensor is configured with a name of "sensor_range".
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  *
  * @see <a href="http://modernroboticsinc.com/range-sensor">MR Range Sensor</a>
  */
 @TeleOp(name = "Sensor: MR range sensor", group = "Sensor")
-@Disabled   // comment out or remove this line to enable this opmode
+@Disabled   // comment out or remove this line to enable this OpMode
 public class SensorMRRangeSensor extends LinearOpMode {
 
     ModernRoboticsI2cRangeSensor rangeSensor;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorREV2mDistance.java

@@ -33,38 +33,36 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
 import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 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;
 
-/**
- * {@link SensorREV2mDistance} illustrates how to use the REV Robotics
- * Time-of-Flight Range Sensor.
+/*
+ * This OpMode illustrates how to use the REV Robotics 2M Distance Sensor.
  *
- * The op mode assumes that the range sensor is configured with a name of "sensor_range".
+ * The OpMode assumes that the sensor is configured with a name of "sensor_distance".
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  *
- * @see <a href="http://revrobotics.com">REV Robotics Web Page</a>
+ * See the sensor's product page: https://www.revrobotics.com/rev-31-1505/
  */
 @TeleOp(name = "Sensor: REV2mDistance", group = "Sensor")
 @Disabled
 public class SensorREV2mDistance extends LinearOpMode {
 
-    private DistanceSensor sensorRange;
+    private DistanceSensor sensorDistance;
 
     @Override
     public void runOpMode() {
         // you can use this as a regular DistanceSensor.
-        sensorRange = hardwareMap.get(DistanceSensor.class, "sensor_range");
+        sensorDistance = hardwareMap.get(DistanceSensor.class, "sensor_distance");
 
         // you can also cast this to a Rev2mDistanceSensor if you want to use added
         // methods associated with the Rev2mDistanceSensor class.
-        Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor)sensorRange;
+        Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor) sensorDistance;
 
         telemetry.addData(">>", "Press start to continue");
         telemetry.update();
@@ -72,11 +70,11 @@ public class SensorREV2mDistance extends LinearOpMode {
         waitForStart();
         while(opModeIsActive()) {
             // generic DistanceSensor methods.
-            telemetry.addData("deviceName",sensorRange.getDeviceName() );
-            telemetry.addData("range", String.format("%.01f mm", sensorRange.getDistance(DistanceUnit.MM)));
-            telemetry.addData("range", String.format("%.01f cm", sensorRange.getDistance(DistanceUnit.CM)));
-            telemetry.addData("range", String.format("%.01f m", sensorRange.getDistance(DistanceUnit.METER)));
-            telemetry.addData("range", String.format("%.01f in", sensorRange.getDistance(DistanceUnit.INCH)));
+            telemetry.addData("deviceName", sensorDistance.getDeviceName() );
+            telemetry.addData("range", String.format("%.01f mm", sensorDistance.getDistance(DistanceUnit.MM)));
+            telemetry.addData("range", String.format("%.01f cm", sensorDistance.getDistance(DistanceUnit.CM)));
+            telemetry.addData("range", String.format("%.01f m", sensorDistance.getDistance(DistanceUnit.METER)));
+            telemetry.addData("range", String.format("%.01f in", sensorDistance.getDistance(DistanceUnit.INCH)));
 
             // Rev2mDistanceSensor specific methods.
             telemetry.addData("ID", String.format("%x", sensorTimeOfFlight.getModelID()));
@@ -86,4 +84,4 @@ public class SensorREV2mDistance extends LinearOpMode {
         }
     }
 
-}
+}

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

@@ -32,53 +32,47 @@ 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 com.qualcomm.robotcore.hardware.IrSeekerSensor;
+import com.qualcomm.robotcore.hardware.TouchSensor;
 
 /*
- * This is an example LinearOpMode that shows how to use
- * the Modern Robotics ITR Seeker
+ * This OpMode demonstrates how to use a REV Robotics Touch Sensor, REV Robotics Magnetic Limit Switch, or other device
+ * that implements the TouchSensor interface. Any touch sensor that connects its output to ground when pressed
+ * (known as "active low") can be configured as a "REV Touch Sensor". This includes REV's Magnetic Limit Switch.
  *
- * The op mode assumes that the IR Seeker
- * is configured with a name of "sensor_ir".
+ * The OpMode assumes that the touch sensor is configured with a name of "sensor_touch".
  *
- * Set the switch on the Modern Robotics IR beacon to 1200 at 180.  <br>
- * Turn on the IR beacon.
- * Make sure the side of the beacon with the LED on is facing the robot. <br>
+ * A REV Robotics Touch Sensor must be configured on digital port number 1, 3, 5, or 7.
+ * A Magnetic Limit Switch can be configured on any digital port.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
  */
-@TeleOp(name = "Sensor: MR IR Seeker", group = "Sensor")
+@TeleOp(name = "Sensor: REV touch sensor", group = "Sensor")
 @Disabled
-public class SensorMRIrSeeker extends LinearOpMode {
+public class SensorTouch extends LinearOpMode {
+    TouchSensor touchSensor;  // Touch sensor Object
 
-  @Override
-  public void runOpMode() {
+    @Override
+    public void runOpMode() {
 
-    IrSeekerSensor irSeeker;    // Hardware Device Object
+        // get a reference to our touchSensor object.
+        touchSensor = hardwareMap.get(TouchSensor.class, "sensor_touch");
 
-    // get a reference to our GyroSensor object.
-    irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir");
+        // wait for the start button to be pressed.
+        waitForStart();
 
-    // wait for the start button to be pressed.
-    waitForStart();
+        // while the OpMode is active, loop and read whether the sensor is being pressed.
+        // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
+        while (opModeIsActive()) {
 
-    while (opModeIsActive())  {
+            // send the info back to driver station using telemetry function.
+            if (touchSensor.isPressed()) {
+                telemetry.addData("Touch Sensor", "Is Pressed");
+            } else {
+                telemetry.addData("Touch Sensor", "Is Not Pressed");
+            }
 
-      // Ensure we have a IR signal
-      if (irSeeker.signalDetected())
-      {
-        // Display angle and strength
-        telemetry.addData("Angle",    irSeeker.getAngle());
-        telemetry.addData("Strength", irSeeker.getStrength());
-      }
-      else
-      {
-        // Display loss of signal
-        telemetry.addData("Seeker", "Signal Lost");
-      }
-
-      telemetry.update();
+            telemetry.update();
+        }
     }
-  }
 }

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

@@ -0,0 +1,127 @@
+/*
+ * Copyright (c) 2023 FIRST
+ *
+ * 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 android.util.Size;
+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.vision.VisionPortal;
+
+import java.util.Locale;
+
+/*
+ * This OpMode helps calibrate a webcam or RC phone camera, useful for AprilTag pose estimation
+ * with the FTC VisionPortal.   It captures a camera frame (image) and stores it on the Robot Controller
+ * (Control Hub or RC phone), with each press of the gamepad button X (or Square).
+ * Full calibration instructions are here:
+ *
+ *  https://ftc-docs.firstinspires.org/camera-calibration
+ *
+ * In Android Studio, copy this class into your "teamcode" folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ *
+ * In OnBot Java, use "Add File" to add this OpMode from the list of Samples.
+ */
+
+@TeleOp(name = "Utility: Camera Frame Capture", group = "Utility")
+@Disabled
+public class UtilityCameraFrameCapture extends LinearOpMode
+{
+    /*
+     * EDIT THESE PARAMETERS AS NEEDED
+     */
+    final boolean USING_WEBCAM = false;
+    final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.BACK;
+    final int RESOLUTION_WIDTH = 640;
+    final int RESOLUTION_HEIGHT = 480;
+
+    // Internal state
+    boolean lastX;
+    int frameCount;
+    long capReqTime;
+
+    @Override
+    public void runOpMode()
+    {
+        VisionPortal portal;
+
+        if (USING_WEBCAM)
+        {
+            portal = new VisionPortal.Builder()
+                    .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
+                    .build();
+        }
+        else
+        {
+            portal = new VisionPortal.Builder()
+                    .setCamera(INTERNAL_CAM_DIR)
+                    .setCameraResolution(new Size(RESOLUTION_WIDTH, RESOLUTION_HEIGHT))
+                    .build();
+        }
+
+        while (!isStopRequested())
+        {
+            boolean x = gamepad1.x;
+
+            if (x && !lastX)
+            {
+                portal.saveNextFrameRaw(String.format(Locale.US, "CameraFrameCapture-%06d", frameCount++));
+                capReqTime = System.currentTimeMillis();
+            }
+
+            lastX = x;
+
+            telemetry.addLine("######## Camera Capture Utility ########");
+            telemetry.addLine(String.format(Locale.US, " > Resolution: %dx%d", RESOLUTION_WIDTH, RESOLUTION_HEIGHT));
+            telemetry.addLine(" > Press X (or Square) to capture a frame");
+            telemetry.addData(" > Camera Status", portal.getCameraState());
+
+            if (capReqTime != 0)
+            {
+                telemetry.addLine("\nCaptured Frame!");
+            }
+
+            if (capReqTime != 0 && System.currentTimeMillis() - capReqTime > 1000)
+            {
+                capReqTime = 0;
+            }
+
+            telemetry.update();
+        }
+    }
+}

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

@@ -2,9 +2,12 @@
 ## Caution
 No Team-specific code should be placed or modified in this ``.../samples`` folder.
 
-Full or partial Samples should be Copied from here, and then Pasted into
-the team's folder, using the Android Studio cut and paste commands.
-This automatically changes all file and class names to be consistent.
+Samples should be Copied from here, and then Pasted into the team's 
+[/TeamCode/src/main/java/org/firstinspires/ftc/teamcode](../../../../../../../../../../TeamCode/src/main/java/org/firstinspires/ftc/teamcode)
+ folder, using the Android Studio cut and paste commands.  This automatically changes all file and
+class names to be consistent.  From there, the sample can be modified to suit the team's needs.
+
+For more detailed instructions see the /teamcode readme.  
 
 ### Naming of Samples
 
@@ -24,15 +27,9 @@ Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
             It is not intended to drive a functioning robot, it is simply showing the minimal code
             required to read and display the sensor values.
 
-Hardware:	This is NOT an OpMode, but a helper class that is used to describe
-            one particular robot's hardware configuration:   eg: For the K9 or Pushbot.
-            Look at any Pushbot sample to see how this can be used in an OpMode.
-            Teams can copy one of these to their team folder to create their own robot definition.
-
-Pushbot:	This is a Sample OpMode that uses the Pushbot robot hardware as a base.
-            It may be used to provide some standard baseline Pushbot OpModes, or
-            to demonstrate how a particular sensor or concept can be used directly on the
-            Pushbot chassis.
+Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+            It may be used to provide a common baseline driving OpMode, or
+            to demonstrate how a particular sensor or concept can be used to navigate.
 
 Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
             These may be complex, but their operation should be explained clearly in the comments,
@@ -40,15 +37,9 @@ Concept:	This is a sample OpMode that illustrates performing a specific function
             Each OpMode should try to only demonstrate a single concept so they are easy to
             locate based on their name.  These OpModes may not produce a drivable robot. 
 
-Library:    This is a class, or set of classes used to implement some strategy.
-            These will typically NOT implement a full OpMode.  Instead they will be included
-            by an OpMode to provide some stand-alone capability.
-
 After the prefix, other conventions will apply:
 
 * Sensor class names are constructed as:    Sensor - Company - Type
-* Hardware class names are constructed as:  Hardware - Robot type
-* Pushbot class names are constructed as:   Pushbot - Mode - Action - OpModetype
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
 * Concept class names are constructed as:   Concept - Topic - OpModetype
-* Library class names are constructed as:   Library - Topic - OpModetype
 

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

@@ -5,45 +5,35 @@ This document defines the FTC Sample OpMode and Class conventions.
 
 ### OpMode Name
 
-A range of different samples classes will reside in the java/external/samples folder.
+To gain a better understanding of how the samples are organized, and how to interpret the
+naming system, it will help to understand the conventions that were used during their creation.
 
-For ease of understanding, the class names will follow a naming convention which indicates
-the purpose of each class.  The prefix of the name will be one of the following:
+To summarize: A range of different samples classes will reside in the java/external/samples.
+The class names will follow a naming convention which indicates the purpose of each class.
+The prefix of the name will be one of the following:
 
-Basic:	    This is a minimally functional OpMode used to illustrate the skeleton/structure
-            of a particular style of OpMode.  These are bare bones Tank Drive examples.
+Basic:  	This is a minimally functional OpMode used to illustrate the skeleton/structure
+            of a particular style of OpMode.  These are bare bones examples.
 
 Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
             It is not intended to drive a functioning robot, it is simply showing the minimal code
             required to read and display the sensor values.
 
-Hardware:	This is not an actual OpMode, but a helper class that is used to describe
-            one particular robot's hardware configuration:   eg: For the K9 or Pushbot.
-            Look at any Pushbot sample to see how this can be used in an OpMode.
-            Teams can copy one of these to create their own robot definition.
-
-Pushbot:	This is a Sample OpMode that uses the Pushbot robot hardware as a base.
-            It may be used to provide some standard baseline Pushbot opmodes, or
-            to demonstrate how a particular sensor or concept can be used directly on the
-            Pushbot chassis.
+Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+            It may be used to provide a common baseline driving OpMode, or
+            to demonstrate how a particular sensor or concept can be used to navigate.
 
 Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
             These may be complex, but their operation should be explained clearly in the comments,
             or the comments should reference an external doc, guide or tutorial.
             Each OpMode should try to only demonstrate a single concept so they are easy to
-            locate based on their name.
-
-Library:    This is a class, or set of classes used to implement some strategy.
-            These will typically NOT implement a full opmode.  Instead they will be included
-            by an OpMode to provide some stand-alone capability.
+            locate based on their name.  These OpModes may not produce a drivable robot.
 
 After the prefix, other conventions will apply:
 
 * Sensor class names should constructed as:       Sensor - Company - Type
-* Hardware class names should be constructed as:  Hardware - Robot type
-* Pushbot class names should be constructed as:   Pushbot - Mode - Action - OpModetype
+* Robot class names should be constructed as:     Robot - Mode - Action - OpModetype
 * Concept class names should be constructed as:   Concept - Topic - OpModetype
-* Library class names should be constructed as:   Library - Topic - OpModetype
 
 ### Sample OpMode Content/Style
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcOpModeRegister.java

@@ -37,7 +37,7 @@ import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister;
 import org.firstinspires.ftc.robotcontroller.external.samples.ConceptNullOp;
 
 /**
- * {@link FtcOpModeRegister} is responsible for registering opmodes for use in an FTC game.
+ * {@link FtcOpModeRegister} is responsible for registering OpModes for use in an FTC game.
  * @see #register(OpModeManager)
  */
 public class FtcOpModeRegister implements OpModeRegister {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java

@@ -40,7 +40,6 @@ import android.content.Intent;
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
 import android.content.res.Configuration;
-import android.content.res.Resources;
 import android.hardware.usb.UsbDevice;
 import android.hardware.usb.UsbManager;
 import android.net.wifi.WifiManager;
@@ -89,6 +88,7 @@ import com.qualcomm.robotcore.hardware.configuration.LynxConstants;
 import com.qualcomm.robotcore.hardware.configuration.Utility;
 import com.qualcomm.robotcore.robot.Robot;
 import com.qualcomm.robotcore.robot.RobotState;
+import com.qualcomm.robotcore.util.ClockWarningSource;
 import com.qualcomm.robotcore.util.Device;
 import com.qualcomm.robotcore.util.Dimmer;
 import com.qualcomm.robotcore.util.ImmersiveMode;
@@ -99,8 +99,10 @@ import com.qualcomm.robotcore.wifi.NetworkConnectionFactory;
 import com.qualcomm.robotcore.wifi.NetworkType;
 
 import org.firstinspires.ftc.ftccommon.external.SoundPlayingRobotMonitor;
+import org.firstinspires.ftc.ftccommon.internal.AnnotatedHooksClassFilter;
 import org.firstinspires.ftc.ftccommon.internal.FtcRobotControllerWatchdogService;
 import org.firstinspires.ftc.ftccommon.internal.ProgramAndManageActivity;
+import org.firstinspires.ftc.onbotjava.ExternalLibraries;
 import org.firstinspires.ftc.onbotjava.OnBotJavaHelperImpl;
 import org.firstinspires.ftc.onbotjava.OnBotJavaProgrammingMode;
 import org.firstinspires.ftc.robotcore.external.navigation.MotionDetection;
@@ -112,6 +114,8 @@ import org.firstinspires.ftc.robotcore.internal.network.WifiDirectChannelChanger
 import org.firstinspires.ftc.robotcore.internal.network.WifiMuteEvent;
 import org.firstinspires.ftc.robotcore.internal.network.WifiMuteStateMachine;
 import org.firstinspires.ftc.robotcore.internal.opmode.ClassManager;
+import org.firstinspires.ftc.robotcore.internal.opmode.OnBotJavaHelper;
+import org.firstinspires.ftc.robotcore.internal.system.AppAliveNotifier;
 import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
 import org.firstinspires.ftc.robotcore.internal.system.Assert;
 import org.firstinspires.ftc.robotcore.internal.system.PreferencesHelper;
@@ -121,7 +125,10 @@ import org.firstinspires.ftc.robotcore.internal.ui.UILocation;
 import org.firstinspires.ftc.robotcore.internal.webserver.RobotControllerWebInfo;
 import org.firstinspires.ftc.robotserver.internal.programmingmode.ProgrammingModeManager;
 import org.firstinspires.inspection.RcInspectionActivity;
+import org.threeten.bp.YearMonth;
+import org.xmlpull.v1.XmlPullParserException;
 
+import java.io.FileNotFoundException;
 import java.util.List;
 import java.util.Queue;
 import java.util.concurrent.ConcurrentLinkedQueue;
@@ -138,6 +145,8 @@ public class FtcRobotControllerActivity extends Activity
   protected WifiManager.WifiLock wifiLock;
   protected RobotConfigFileManager cfgFileMgr;
 
+  private OnBotJavaHelper onBotJavaHelper;
+
   protected ProgrammingModeManager programmingModeManager;
 
   protected UpdateUI.Callback callback;
@@ -297,6 +306,18 @@ public class FtcRobotControllerActivity extends Activity
     preferencesHelper.writeBooleanPrefIfDifferent(context.getString(R.string.pref_rc_connected), true);
     preferencesHelper.getSharedPreferences().registerOnSharedPreferenceChangeListener(sharedPreferencesListener);
 
+    // Check if this RC app is from a later FTC season than what was installed previously
+    int ftcSeasonYearOfPreviouslyInstalledRc = preferencesHelper.readInt(getString(R.string.pref_ftc_season_year_of_current_rc), 0);
+    int ftcSeasonYearOfCurrentlyInstalledRc = AppUtil.getInstance().getFtcSeasonYear(AppUtil.getInstance().getLocalSdkBuildMonth()).getValue();
+    if (ftcSeasonYearOfCurrentlyInstalledRc > ftcSeasonYearOfPreviouslyInstalledRc) {
+      preferencesHelper.writeIntPrefIfDifferent(getString(R.string.pref_ftc_season_year_of_current_rc), ftcSeasonYearOfCurrentlyInstalledRc);
+      // Since it's a new FTC season, we should reset certain settings back to their default values.
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_2_4_ghz_band), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_obsolete_software), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_mismatched_app_versions), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_incorrect_clocks), true);
+    }
+
     entireScreenLayout = (LinearLayout) findViewById(R.id.entire_screen);
     buttonMenu = (ImageButton) findViewById(R.id.menu_buttons);
     buttonMenu.setOnClickListener(new View.OnClickListener() {
@@ -310,6 +331,8 @@ public class FtcRobotControllerActivity extends Activity
           }
         });
         popupMenu.inflate(R.menu.ftc_robot_controller);
+        AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods(
+            FtcRobotControllerActivity.this, popupMenu.getMenu());
         popupMenu.show();
       }
     });
@@ -318,6 +341,9 @@ public class FtcRobotControllerActivity extends Activity
 
     BlocksOpMode.setActivityAndWebView(this, (WebView) findViewById(R.id.webViewBlocksRuntime));
 
+    ExternalLibraries.getInstance().onCreate();
+    onBotJavaHelper = new OnBotJavaHelperImpl();
+
     /*
      * Paranoia as the ClassManagerFactory requires EXTERNAL_STORAGE permissions
      * and we've seen on the DS where the finish() call above does not short-circuit
@@ -325,7 +351,7 @@ public class FtcRobotControllerActivity extends Activity
      * have permissions. So...
      */
     if (permissionsValidated) {
-      ClassManager.getInstance().setOnBotJavaClassHelper(new OnBotJavaHelperImpl());
+      ClassManager.getInstance().setOnBotJavaClassHelper(onBotJavaHelper);
       ClassManagerFactory.registerFilters();
       ClassManagerFactory.processAllClasses();
     }
@@ -369,16 +395,20 @@ public class FtcRobotControllerActivity extends Activity
     readNetworkType();
     ServiceController.startService(FtcRobotControllerWatchdogService.class);
     bindToService();
-    logPackageVersions();
-    logDeviceSerialNumber();
-    AndroidBoard.getInstance().logAndroidBoardInfo();
+    RobotLog.logAppInfo();
     RobotLog.logDeviceInfo();
+    AndroidBoard.getInstance().logAndroidBoardInfo();
 
     if (preferencesHelper.readBoolean(getString(R.string.pref_wifi_automute), false)) {
       initWifiMute(true);
     }
 
-    FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.BUILD_TIME);
+    FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.APP_BUILD_TIME);
+
+    // check to see if there is a preferred Wi-Fi to use.
+    checkPreferredChannel();
+
+    AnnotatedHooksClassFilter.getInstance().callOnCreateMethods(this);
   }
 
   protected UpdateUI createUpdateUI() {
@@ -400,17 +430,6 @@ public class FtcRobotControllerActivity extends Activity
     super.onStart();
     RobotLog.vv(TAG, "onStart()");
 
-    // If we're start()ing after a stop(), then shut the old robot down so
-    // we can refresh it with new state (e.g., with new hw configurations)
-    shutdownRobot();
-
-    updateUIAndRequestRobotSetup();
-
-    cfgFileMgr.getActiveConfigAndUpdateUI();
-
-    // check to see if there is a preferred Wi-Fi to use.
-    checkPreferredChannel();
-
     entireScreenLayout.setOnTouchListener(new View.OnTouchListener() {
       @Override
       public boolean onTouch(View v, MotionEvent event) {
@@ -424,6 +443,9 @@ public class FtcRobotControllerActivity extends Activity
   protected void onResume() {
     super.onResume();
     RobotLog.vv(TAG, "onResume()");
+
+    // In case the user just got back from fixing their clock, refresh ClockWarningSource
+    ClockWarningSource.getInstance().onPossibleRcClockUpdate();
   }
 
   @Override
@@ -458,6 +480,8 @@ public class FtcRobotControllerActivity extends Activity
     if (preferencesHelper != null) preferencesHelper.getSharedPreferences().unregisterOnSharedPreferenceChangeListener(sharedPreferencesListener);
 
     RobotLog.cancelWriteLogcatToDisk();
+
+    AnnotatedHooksClassFilter.getInstance().callOnDestroyMethods(this);
   }
 
   protected void bindToService() {
@@ -474,32 +498,9 @@ public class FtcRobotControllerActivity extends Activity
     }
   }
 
-  protected void logPackageVersions() {
-    RobotLog.logBuildConfig(com.qualcomm.ftcrobotcontroller.BuildConfig.class);
-    RobotLog.logBuildConfig(com.qualcomm.robotcore.BuildConfig.class);
-    RobotLog.logBuildConfig(com.qualcomm.hardware.BuildConfig.class);
-    RobotLog.logBuildConfig(com.qualcomm.ftccommon.BuildConfig.class);
-    RobotLog.logBuildConfig(com.google.blocks.BuildConfig.class);
-    RobotLog.logBuildConfig(org.firstinspires.inspection.BuildConfig.class);
-  }
-
-  protected void logDeviceSerialNumber() {
-    RobotLog.ii(TAG, "Android device serial number: " + Device.getSerialNumberOrUnknown());
-  }
-
   protected void readNetworkType() {
-
-    // The code here used to defer to the value found in a configuration file
-    // to configure the network type. If the file was absent, then it initialized
-    // it with a default.
-    //
-    // However, bugs have been reported with that approach (empty config files, specifically).
-    // Moreover, the non-Wifi-Direct networking is end-of-life, so the simplest and most robust
-    // (e.g.: no one can screw things up by messing with the contents of the config file) fix is
-    // to do away with configuration file entirely.
-    //
     // Control hubs are always running the access point model.  Everything else, for the time
-    // being always runs the wifi direct model.
+    // being always runs the Wi-Fi Direct model.
     if (Device.isRevControlHub() == true) {
       networkType = NetworkType.RCWIRELESSAP;
     } else {
@@ -523,6 +524,7 @@ public class FtcRobotControllerActivity extends Activity
   @Override
   public boolean onCreateOptionsMenu(Menu menu) {
     getMenuInflater().inflate(R.menu.ftc_robot_controller, menu);
+    AnnotatedHooksClassFilter.getInstance().callOnCreateMenuMethods(this, menu);
     return true;
   }
 
@@ -603,6 +605,9 @@ public class FtcRobotControllerActivity extends Activity
         }
       }
 
+      // Allow the user to use the Control Hub operating system's UI, instead of relaunching the app
+      AppAliveNotifier.getInstance().disableAppWatchdogUntilNextAppStart();
+
       //Finally, nuke the VM from orbit
       AppUtil.getInstance().exitApplication();
 
@@ -620,8 +625,8 @@ public class FtcRobotControllerActivity extends Activity
   }
 
   /**
-   * Updates the orientation of monitorContainer (which contains cameraMonitorView and
-   * tfodMonitorView) based on the given configuration. Makes the children split the space.
+   * Updates the orientation of monitorContainer (which contains cameraMonitorView)
+   * based on the given configuration. Makes the children split the space.
    */
   private void updateMonitorLayout(Configuration configuration) {
     LinearLayout monitorContainer = (LinearLayout) findViewById(R.id.monitorContainer);
@@ -653,7 +658,9 @@ public class FtcRobotControllerActivity extends Activity
     // was some historical confusion about launch codes here, so we err safely
     if (request == RequestCode.CONFIGURE_ROBOT_CONTROLLER.ordinal() || request == RequestCode.SETTINGS_ROBOT_CONTROLLER.ordinal()) {
       // We always do a refresh, whether it was a cancel or an OK, for robustness
+      shutdownRobot();
       cfgFileMgr.getActiveConfigAndUpdateUI();
+      updateUIAndRequestRobotSetup();
     }
   }
 
@@ -662,6 +669,8 @@ public class FtcRobotControllerActivity extends Activity
     controllerService = service;
     updateUI.setControllerService(controllerService);
 
+    controllerService.setOnBotJavaHelper(onBotJavaHelper);
+
     updateUIAndRequestRobotSetup();
     programmingModeManager.setState(new FtcRobotControllerServiceState() {
       @NonNull
@@ -670,11 +679,20 @@ public class FtcRobotControllerActivity extends Activity
         return service.getWebServer();
       }
 
+      @Nullable
+      @Override
+      public OnBotJavaHelper getOnBotJavaHelper() {
+        return service.getOnBotJavaHelper();
+      }
+
       @Override
       public EventLoopManager getEventLoopManager() {
         return service.getRobot().eventLoopManager;
       }
     });
+
+    AnnotatedHooksClassFilter.getInstance().callWebHandlerRegistrarMethods(this,
+        service.getWebServer().getWebHandlerManager());
   }
 
   private void updateUIAndRequestRobotSetup() {
@@ -699,10 +717,15 @@ public class FtcRobotControllerActivity extends Activity
     HardwareFactory hardwareFactory = new HardwareFactory(context);
     try {
       hardwareFactory.setXmlPullParser(file.getXml());
-    } catch (Resources.NotFoundException e) {
+    } catch (FileNotFoundException | XmlPullParserException e) {
+      RobotLog.ww(TAG, e, "Unable to set configuration file %s. Falling back on noConfig.", file.getName());
       file = RobotConfigFile.noConfig(cfgFileMgr);
-      hardwareFactory.setXmlPullParser(file.getXml());
-      cfgFileMgr.setActiveConfigAndUpdateUI(false, file);
+      try {
+        hardwareFactory.setXmlPullParser(file.getXml());
+        cfgFileMgr.setActiveConfigAndUpdateUI(false, file);
+      } catch (FileNotFoundException | XmlPullParserException e1) {
+        RobotLog.ee(TAG, e1, "Failed to fall back on noConfig");
+      }
     }
 
     OpModeRegister userOpModeRegister = createOpModeRegister();
@@ -714,6 +737,8 @@ public class FtcRobotControllerActivity extends Activity
 
     passReceivedUsbAttachmentsToEventLoop();
     AndroidBoard.showErrorIfUnknownControlHub();
+
+    AnnotatedHooksClassFilter.getInstance().callOnCreateEventLoopMethods(this, eventLoop);
   }
 
   protected OpModeRegister createOpModeRegister() {

FtcRobotController/src/main/res/layout/activity_ftc_controller.xml

@@ -140,13 +140,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
             android:layout_weight="1"
             android:orientation="vertical"
             />
-        <FrameLayout
-            android:id="@+id/tfodMonitorViewId"
-            android:visibility="gone"
-            android:layout_width="match_parent"
-            android:layout_height="0dp"
-            android:layout_weight="1"
-            />
 
         </LinearLayout>
 

FtcRobotController/src/main/res/menu/ftc_robot_controller.xml

@@ -31,36 +31,37 @@ 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.
 -->
 
-<menu xmlns:android="http://schemas.android.com/apk/res/android" >
+<menu xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
 
   <item
     android:id="@+id/action_settings"
     android:orderInCategory="100"
-    android:showAsAction="never"
+    app:showAsAction="never"
     android:title="@string/settings_menu_item"/>
   <item
     android:id="@+id/action_restart_robot"
     android:orderInCategory="200"
-    android:showAsAction="never"
+    app:showAsAction="never"
     android:title="@string/restart_robot_menu_item"/>
 
   <item
     android:id="@+id/action_configure_robot"
     android:orderInCategory="300"
-    android:showAsAction="never"
+    app:showAsAction="never"
     android:title="@string/configure_robot_menu_item"/>
 
   <item
     android:id="@+id/action_program_and_manage"
     android:orderInCategory="550"
-    android:showAsAction="never"
+    app:showAsAction="never"
     android:title="@string/program_and_manage_menu_item"/>
 
   <item
-      android:id="@+id/action_inspection_mode"
-      android:orderInCategory="600"
-      android:showAsAction="never"
-      android:title="@string/inspection_mode_menu_item"/>
+    android:id="@+id/action_inspection_mode"
+    android:orderInCategory="600"
+    app:showAsAction="never"
+    android:title="@string/inspection_mode_menu_item"/>
 
   <item
     android:id="@+id/action_about"

FtcRobotController/src/main/res/values/strings.xml

@@ -65,6 +65,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <item>@style/AppThemeTealRC</item>
   </integer-array>
 
+  <string translatable="false" name="pref_ftc_season_year_of_current_rc">pref_ftc_season_year_of_current_rc_new</string>
+
   <string name="packageName">@string/packageNameRobotController</string>
 
 </resources>

FtcRobotController/src/main/res/xml/device_filter.xml

@@ -37,7 +37,6 @@ https://developer.android.com/guide/topics/connectivity/usb/host
 
 <!-- see also RobotUsbDevice.getUsbIdentifiers() -->
 <resources>
-   <usb-device vendor-id="1027" product-id="24577" /> <!-- FT232 Modern Robotics: 0x0403/0x6001 -->
    <usb-device vendor-id="1027" product-id="24597" /> <!-- FT232 Lynx: 0x0403/0x6015 -->
 
    <!-- cameras -->

LICENSE

@@ -0,0 +1,29 @@
+Copyright (c) 2014-2022 FIRST.  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.
+

TeamCode/build.gradle

@@ -13,11 +13,17 @@
 
 // Include common definitions from above.
 apply from: '../build.common.gradle'
+apply from: '../build.dependencies.gradle'
 
-repositories {
-    maven { url = "https://dl.bintray.com/first-tech-challenge/ftcsdk/" }
+android {
+    namespace = 'org.firstinspires.ftc.teamcode'
+
+    packagingOptions {
+        jniLibs.useLegacyPackaging true
+    }
 }
 
 dependencies {
+    implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
-}
+}

TeamCode/build.release.gradle

@@ -1,8 +0,0 @@
-dependencies {
-    implementation project(':FtcRobotController')
-    implementation 'org.firstinspires.ftc:RobotCore:6.0.1'
-    implementation 'org.firstinspires.ftc:Hardware:6.0.1'
-    implementation 'org.firstinspires.ftc:FtcCommon:6.0.1'
-    implementation (name: 'tfod-release', ext:'aar')
-    implementation (name: 'tensorflow-lite-0.0.0-nightly', ext:'aar')
-}

TeamCode/src/main/AndroidManifest.xml

@@ -6,7 +6,6 @@
 
 <!-- The package name here determines the package for your R class and your BuildConfig class -->
 <manifest
-    package="org.firstinspires.ftc.teamcode"
     xmlns:android="http://schemas.android.com/apk/res/android">
     <application/>
 </manifest>

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md

@@ -14,31 +14,41 @@ Sample opmodes exist in the FtcRobotController module.
 To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
 
 Expand the following tree elements:
- FtcRobotController / java / org.firstinspires.ftc.robotcontroller / external / samples
+ FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
 
-A range of different samples classes can be seen in this folder.
-The class names follow a naming convention which indicates the purpose of each class.
-The full description of this convention is found in the samples/sample_convention.md file.
+### Naming of Samples
 
-A brief synopsis of the naming convention is given here:
+To gain a better understanding of how the samples are organized, and how to interpret the
+naming system, it will help to understand the conventions that were used during their creation.
+
+These conventions are described (in detail) in the sample_conventions.md file in this folder.
+
+To summarize: A range of different samples classes will reside in the java/external/samples.
+The class names will follow a naming convention which indicates the purpose of each class.
 The prefix of the name will be one of the following:
 
-* Basic:    This is a minimally functional OpMode used to illustrate the skeleton/structure
+Basic:  	This is a minimally functional OpMode used to illustrate the skeleton/structure
             of a particular style of OpMode.  These are bare bones examples.
-* Sensor:   This is a Sample OpMode that shows how to use a specific sensor.
-            It is not intended as a functioning robot, it is simply showing the minimal code
+
+Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
+            It is not intended to drive a functioning robot, it is simply showing the minimal code
             required to read and display the sensor values.
-* Hardware: This is not an actual OpMode, but a helper class that is used to describe
-            one particular robot's hardware devices: eg: for a Pushbot.  Look at any
-            Pushbot sample to see how this can be used in an OpMode.
-            Teams can copy one of these to create their own robot definition.
-* Pushbot:  This is a Sample OpMode that uses the Pushbot robot structure as a base.
-* Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
+
+Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+            It may be used to provide a common baseline driving OpMode, or
+            to demonstrate how a particular sensor or concept can be used to navigate.
+
+Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
             These may be complex, but their operation should be explained clearly in the comments,
-            or the header should reference an external doc, guide or tutorial.
-* Library:  This is a class, or set of classes used to implement some strategy.
-            These will typically NOT implement a full OpMode.  Instead they will be included
-            by an OpMode to provide some stand-alone capability.
+            or the comments should reference an external doc, guide or tutorial.
+            Each OpMode should try to only demonstrate a single concept so they are easy to
+            locate based on their name.  These OpModes may not produce a drivable robot.
+
+After the prefix, other conventions will apply:
+
+* Sensor class names are constructed as:    Sensor - Company - Type
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
+* Concept class names are constructed as:   Concept - Topic - OpModetype
 
 Once you are familiar with the range of samples available, you can choose one to be the
 basis for your own robot.  In all cases, the desired sample(s) needs to be copied into
@@ -50,7 +60,7 @@ This is done inside Android Studio directly, using the following steps:
 
  2) Right click on the sample class and select "Copy"
 
- 3) Expand the  TeamCode / java folder
+ 3) Expand the  TeamCode/java folder
 
  4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
 

build.common.gradle

@@ -21,9 +21,24 @@ apply plugin: 'com.android.application'
 
 android {
 
-    compileSdkVersion 28
+    compileSdkVersion 29
 
     signingConfigs {
+        release {
+            def apkStoreFile = System.getenv("APK_SIGNING_STORE_FILE")
+            if (apkStoreFile != null) {
+                keyAlias System.getenv("APK_SIGNING_KEY_ALIAS")
+                keyPassword System.getenv("APK_SIGNING_KEY_PASSWORD")
+                storeFile file(System.getenv("APK_SIGNING_STORE_FILE"))
+                storePassword System.getenv("APK_SIGNING_STORE_PASSWORD")
+            } else {
+                keyAlias 'androiddebugkey'
+                keyPassword 'android'
+                storeFile rootProject.file('libs/ftc.debug.keystore')
+                storePassword 'android'
+            }
+        }
+
         debug {
             keyAlias 'androiddebugkey'
             keyPassword 'android'
@@ -39,7 +54,8 @@ android {
     defaultConfig {
         signingConfig signingConfigs.debug
         applicationId 'com.qualcomm.ftcrobotcontroller'
-        minSdkVersion 23
+        minSdkVersion 24
+        //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
 
         /**
@@ -71,12 +87,11 @@ android {
         versionName vName
     }
 
-    // Advanced user code might just want to use Vuforia directly, so we set up the libs as needed
     // http://google.github.io/android-gradle-dsl/current/com.android.build.gradle.internal.dsl.BuildType.html
     buildTypes {
         release {
-            // Disable debugging for release versions so it can be uploaded to Google Play.
-            //debuggable true
+            signingConfig signingConfigs.release
+
             ndk {
                 abiFilters "armeabi-v7a", "arm64-v8a"
             }
@@ -84,7 +99,6 @@ android {
         debug {
             debuggable true
             jniDebuggable true
-            renderscriptDebuggable true
             ndk {
                 abiFilters "armeabi-v7a", "arm64-v8a"
             }
@@ -92,19 +106,20 @@ android {
     }
 
     compileOptions {
-        sourceCompatibility JavaVersion.VERSION_1_7
-        targetCompatibility JavaVersion.VERSION_1_7
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
     }
 
+    packagingOptions {
+        pickFirst '**/*.so'
+    }
     sourceSets.main {
         jni.srcDirs = []
         jniLibs.srcDir rootProject.file('libs')
     }
+    ndkVersion '21.3.6528147'
 }
 
 repositories {
-    flatDir {
-        dirs rootProject.file('libs')
-    }
 }
-apply from: 'build.release.gradle'
+

build.dependencies.gradle

@@ -0,0 +1,21 @@
+repositories {
+    mavenCentral()
+    google() // Needed for androidx
+}
+
+dependencies {
+    implementation 'org.firstinspires.ftc:Inspection:9.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:9.1.0'
+    implementation 'org.firstinspires.ftc:Tfod:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotCore:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:9.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:9.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:9.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:9.1.0'
+    implementation 'org.firstinspires.ftc:Vision:9.1.0'
+    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'
+}
+

build.gradle

@@ -3,13 +3,15 @@
  *
  * It is extraordinarily rare that you will ever need to edit this file.
  */
+
 buildscript {
     repositories {
+        mavenCentral()
         google()
-        jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:4.0.1'
+        // Note for FTC Teams: Do not modify this yourself.
+        classpath 'com.android.tools.build:gradle:7.2.0'
     }
 }
 
@@ -17,7 +19,11 @@ buildscript {
 // google() repository beginning with version 3.2 of the Android Gradle Plugin
 allprojects {
     repositories {
+        mavenCentral()
         google()
-        jcenter()
     }
 }
+
+repositories {
+    mavenCentral()
+}