Add list of IMUs on current robot roster

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.

FtcRobotController/build.gradle

@@ -8,7 +8,7 @@ apply plugin: 'com.android.library'
 android {
 
     defaultConfig {
-        minSdkVersion 23
+        minSdkVersion 24
         //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
         buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
@@ -17,8 +17,8 @@ android {
     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'
 }

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,15 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="45"
-          android:versionName="7.2">
+    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"

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

@@ -35,7 +35,7 @@ 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.
@@ -60,10 +60,10 @@ import com.qualcomm.robotcore.util.ElapsedTime;
  * 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
+ * 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")
+@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
 @Disabled
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 

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

@@ -36,7 +36,7 @@ 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.
@@ -47,10 +47,10 @@ import com.qualcomm.robotcore.util.Range;
  * It includes all the skeletal structure that all iterative OpModes contain.
  *
  * 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="Basic: Iterative OpMode", group="Iterative Opmode")
+@TeleOp(name="Basic: Iterative OpMode", group="Iterative OpMode")
 @Disabled
 public class BasicOpMode_Iterative extends OpMode
 {

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

@@ -29,15 +29,15 @@
 
 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 a selection is made from the menu, the corresponding OpMode
@@ -47,10 +47,10 @@ import com.qualcomm.robotcore.util.Range;
  * It includes all the skeletal structure that all linear OpModes contain.
  *
  * 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="Basic: Linear OpMode", group="Linear Opmode")
+@TeleOp(name="Basic: Linear OpMode", group="Linear OpMode")
 @Disabled
 public class BasicOpMode_Linear extends LinearOpMode {
 

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

@@ -1,125 +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.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-/**
- * This file illustrates the concept of calibrating a MR Compass
- *   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. */
-    public DcMotor leftDrive   = null;
-    public DcMotor  rightDrive  = null;
-    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.
-        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.
-        // 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);
-
-        // 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();
-        leftDrive.setPower(MOTOR_POWER);
-        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
-        leftDrive.setPower(0);
-        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/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

@@ -6,13 +6,13 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-/**
- * This sample illustrates using the rumble feature of many gamepads.
+/*
+ * 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 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.

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

@@ -1,13 +1,12 @@
 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 org.firstinspires.ftc.robotcore.external.Telemetry;
 
-/**
- * This sample illustrates using the touchpad feature found on some gamepads.
+/*
+ * 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.

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

@@ -36,43 +36,48 @@ 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

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

@@ -34,7 +34,7 @@ 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
  *
@@ -44,7 +44,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
  * 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

@@ -37,8 +37,7 @@ 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'

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

@@ -34,7 +34,7 @@ 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 forward until Stop is pressed.
  * The code is structured as a LinearOpMode
  * INCREMENT sets how much to increase/decrease the servo position each cycle
@@ -46,7 +46,7 @@ import com.qualcomm.robotcore.hardware.Servo;
  * 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

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 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
  *
  * 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

@@ -30,14 +30,13 @@
 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.
  *

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

@@ -29,158 +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 Freight Frenzy 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.
  */
 @TeleOp(name = "Concept: TensorFlow Object Detection", group = "Concept")
 @Disabled
 public class ConceptTensorFlowObjectDetection extends LinearOpMode {
-  /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
-   * the following 4 detectable objects
-   *  0: Ball,
-   *  1: Cube,
-   *  2: Duck,
-   *  3: Marker (duck location tape marker)
-   *
-   *  Two additional model assets are available which only contain a subset of the objects:
-   *  FreightFrenzy_BC.tflite  0: Ball,  1: Cube
-   *  FreightFrenzy_DM.tflite  0: Duck,  1: Marker
-   */
-    private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
+
+    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 = {
-      "Ball",
-      "Cube",
-      "Duck",
-      "Marker"
+       "Pixel",
     };
 
-    /*
-     * 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.
+    /**
+     * The variable to store our instance of the TensorFlow Object Detection processor.
      */
-    private static final String VUFORIA_KEY =
-            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";
+    private TfodProcessor tfod;
 
     /**
-     * {@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 vision portal.
      */
-    private VuforiaLocalizer vuforia;
-
-    /**
-     * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
-     * Detection engine.
-     */
-    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 16/9).
-            tfod.setZoom(2.5, 16.0/9.0);
-        }
-
-        /** 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());
-                        i++;
-                      }
+                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 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;
-        tfodParameters.isModelTensorFlow2 = true;
-        tfodParameters.inputSize = 320;
-        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
-    }
+
+        // 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

@@ -32,190 +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 Freight Frenzy 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 {
-  /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
-   * the following 4 detectable objects
-   *  0: Ball,
-   *  1: Cube,
-   *  2: Duck,
-   *  3: Marker (duck location tape marker)
-   *
-   *  Two additional model assets are available which only contain a subset of the objects:
-   *  FreightFrenzy_BC.tflite  0: Ball,  1: Cube
-   *  FreightFrenzy_DM.tflite  0: Duck,  1: Marker
-   */
-    private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
-    private static final String[] LABELS = {
-      "Ball",
-      "Cube",
-      "Duck",
-      "Marker"
-    };
-
-    /*
-     * 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 16/9).
-            tfod.setZoom(2.5, 16.0/9.0);
-        }
-
-        /** 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());
-                      i++;
-                    }
+
+                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);
             }
         }
-        }
-    }
+
+        // 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;
-        tfodParameters.isModelTensorFlow2 = true;
-        tfodParameters.inputSize = 320;
-        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
-    }
 
-    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

@@ -1,185 +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 Freight Frenzy 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 {
-  /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
-   * the following 4 detectable objects
-   *  0: Ball,
-   *  1: Cube,
-   *  2: Duck,
-   *  3: Marker (duck location tape marker)
-   *
-   *  Two additional model assets are available which only contain a subset of the objects:
-   *  FreightFrenzy_BC.tflite  0: Ball,  1: Cube
-   *  FreightFrenzy_DM.tflite  0: Duck,  1: Marker
-   */
-    private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
-    private static final String[] LABELS = {
-      "Ball",
-      "Cube",
-      "Duck",
-      "Marker"
-    };
-
-    /*
-     * 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 16/9).
-            tfod.setZoom(2.5, 16.0/9.0);
-        }
-
-        /** 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());
-                        i++;
-                      }
-                      telemetry.update();
-                    }
-                }
-            }
-        }
-    }
-
-    /**
-     * 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;
-       tfodParameters.isModelTensorFlow2 = true;
-       tfodParameters.inputSize = 320;
-       tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
-       tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
-    }
-}

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/ConceptVuforiaDriveToTargetWebcam.java

@@ -1,203 +0,0 @@
-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.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.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 using a webcam to locate and drive towards ANY Vuforia target.
- * The code assumes a basic two-wheel Robot Configuration with motors named left_drive and right_drive.
- * The motor directions must be set so a positive drive goes forward and a positive turn rotates to the right.
- *
- * Under manual control, the left stick will move forward/back, and the right stick will turn left/right.
- * 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.
- *
- * 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.
- *
- * For more Vuforia details, or to adapt this OpMode for a phone camera, view the
- *  ConceptVuforiaFieldNavigation and ConceptVuforiaFieldNavigationWebcam samples.
- *
- * 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="Drive To Target", group = "Concept")
-@Disabled
-public class ConceptVuforiaDriveToTargetWebcam extends LinearOpMode
-{
-    // Adjust these numbers to suit your robot.
-    final double DESIRED_DISTANCE = 8.0; //  this is how close the camera should get to the target (inches)
-                                         //  The GAIN constants set the relationship between the measured position error,
-                                         //  and how much power is applied to the drive motors.  Drive = Error * Gain
-                                         //  Make these values smaller for smoother control.
-    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 MM_PER_INCH = 25.40 ;   //  Metric conversion
-
-    /*
-     * 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  --- ";
-
-    VuforiaLocalizer vuforia    = null;
-    OpenGLMatrix targetPose     = null;
-    String targetName           = "";
-
-    private DcMotor leftDrive   = null;
-    private DcMotor rightDrive  = null;
-
-    @Override public void runOpMode()
-    {
-        /*
-         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         * To get an on-phone camera preview, use the code below.
-         * If no camera preview 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;
-
-        // Turn off Extended tracking.  Set this true if you want Vuforia to track beyond the target.
-        parameters.useExtendedTracking = false;
-
-        // Connect to the camera we are to use.  This name must match what is set up in Robot Configuration
-        parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");
-        this.vuforia = ClassFactory.getInstance().createVuforia(parameters);
-
-        // Load the trackable objects from the Assets file, and give them meaningful names
-        VuforiaTrackables targetsFreightFrenzy = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
-        targetsFreightFrenzy.get(0).setName("Blue Storage");
-        targetsFreightFrenzy.get(1).setName("Blue Alliance Wall");
-        targetsFreightFrenzy.get(2).setName("Red Storage");
-        targetsFreightFrenzy.get(3).setName("Red Alliance Wall");
-
-        // Start tracking targets in the background
-        targetsFreightFrenzy.activate();
-
-        // Initialize the hardware variables. Note that the strings used here as parameters
-        // to 'get' must correspond to 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.  Gear Reduction or 90 Deg drives may require direction flips
-        leftDrive.setDirection(DcMotor.Direction.REVERSE);
-        rightDrive.setDirection(DcMotor.Direction.FORWARD);
-
-        telemetry.addData(">", "Press Play to start");
-        telemetry.update();
-
-        waitForStart();
-
-        boolean targetFound     = false;    // Set to true when a target is detected by Vuforia
-        double  targetRange     = 0;        // Distance from camera to target in Inches
-        double  targetBearing   = 0;        // Robot Heading, relative to target.  Positive degrees means target is to the right.
-        double  drive           = 0;        // Desired forward power (-1 to +1)
-        double  turn            = 0;        // Desired turning power (-1 to +1)
-
-        while (opModeIsActive())
-        {
-            // Look for first visible target, and save its pose.
-            targetFound = false;
-            for (VuforiaTrackable trackable : targetsFreightFrenzy)
-            {
-                if (((VuforiaTrackableDefaultListener) trackable.getListener()).isVisible())
-                {
-                    targetPose = ((VuforiaTrackableDefaultListener)trackable.getListener()).getVuforiaCameraFromTarget();
-
-                    // if we have a target, process the "pose" to determine the position of the target relative to the robot.
-                    if (targetPose != null)
-                    {
-                        targetFound = true;
-                        targetName  = trackable.getName();
-                        VectorF trans = targetPose.getTranslation();
-
-                        // Extract the X & Y components of the offset of the target relative to the robot
-                        double targetX = trans.get(0) / MM_PER_INCH; // Image X axis
-                        double targetY = trans.get(2) / MM_PER_INCH; // Image Z axis
-
-                        // target range is based on distance from robot position to origin (right triangle).
-                        targetRange = Math.hypot(targetX, targetY);
-
-                        // target bearing is based on angle formed between the X axis and the target range line
-                        targetBearing = Math.toDegrees(Math.asin(targetX / targetRange));
-
-                        break;  // jump out of target tracking loop if we find a target.
-                    }
-                }
-            }
-
-            // Tell the driver what we see, and what to do.
-            if (targetFound) {
-                telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Target", " %s", targetName);
-                telemetry.addData("Range",  "%5.1f inches", targetRange);
-                telemetry.addData("Bearing","%3.0f degrees", targetBearing);
-            } else {
-                telemetry.addData(">","Drive using joystick to find target\n");
-            }
-
-            // Drive to target Automatically if Left Bumper is being pressed, AND we have found a target.
-            if (gamepad1.left_bumper && targetFound) {
-
-                // Determine heading and range error so we can use them to control the robot automatically.
-                double  rangeError   = (targetRange - DESIRED_DISTANCE);
-                double  headingError = targetBearing;
-
-                // Use the speed and turn "gains" to calculate how we want the robot to move.
-                drive = rangeError * SPEED_GAIN;
-                turn  = headingError * TURN_GAIN ;
-
-                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();
-
-            // Calculate left and right wheel powers and send to them to the motors.
-            double leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
-            double rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;
-            leftDrive.setPower(leftPower);
-            rightDrive.setPower(rightPower);
-
-            sleep(10);
-        }
-    }
-}

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

@@ -1,284 +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 OpMode illustrates using the Vuforia localizer to determine positioning and orientation of
- * robot on the FTC field using the RC phone's camera.  The code is structured as a LinearOpMode
- *
- * Note: If you are using a WEBCAM see ConceptVuforiaFieldNavigationWebcam.java
- *
- * 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.
- *
- * Finally, the location of the camera on the robot is used to determine the
- * robot's location and orientation on the field.
- *
- * To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
- *
- * 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="Vuforia Field Nav", group ="Concept")
-@Disabled
-public class ConceptVuforiaFieldNavigation 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)
-
-    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.  These are useful for the Freight Frenzy field.
-    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
-    private static final float halfField        = 72 * mmPerInch;
-    private static final float halfTile         = 12 * mmPerInch;
-    private static final float oneAndHalfTile   = 36 * mmPerInch;
-
-    // Class Members
-    private OpenGLMatrix lastLocation = null;
-    private VuforiaLocalizer vuforia  = null;
-    private VuforiaTrackables targets = 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.
-         * To get an on-phone camera preview, use the code below.
-         * If no camera preview 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;
-
-        // Turn off Extended tracking.  Set this true if you want Vuforia to track beyond the target.
-        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.
-        targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
-
-        // For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(targets);
-
-        /**
-         * 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.
-         */
-
-        // Name and locate each trackable object
-        identifyTarget(0, "Blue Storage",       -halfField,  oneAndHalfTile, mmTargetHeight, 90, 0, 90);
-        identifyTarget(1, "Blue Alliance Wall",  halfTile,   halfField,      mmTargetHeight, 90, 0, 0);
-        identifyTarget(2, "Red Storage",        -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
-        identifyTarget(3, "Red Alliance Wall",   halfTile,  -halfField,      mmTargetHeight, 90, 0, 180);
-
-        /*
-         * 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 heading 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 its 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 on the robot (left-to-right and front-to-back), and 6 inches above ground level.
-        final float CAMERA_FORWARD_DISPLACEMENT  = 0.0f * mmPerInch;   // eg: Enter the forward distance from the center of the robot to the camera lens
-        final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch;   // eg: Camera is 6 Inches above ground
-        final float CAMERA_LEFT_DISPLACEMENT     = 0.0f * mmPerInch;   // eg: Enter the left distance from the center of the robot to the camera lens
-
-        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 Stream 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.
-         * It is not permitted to transition to RUN while the camera preview window is active.
-         * Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window.
-         */
-
-        targets.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 (inches)", "{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;
-        targets.deactivate();
-    }
-
-    /***
-     * Identify a target by naming it, and setting its position and orientation on the field
-     * @param targetIndex
-     * @param targetName
-     * @param dx, dy, dz  Target offsets in x,y,z axes
-     * @param rx, ry, rz  Target rotations in x,y,z axes
-     */
-    void    identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) {
-        VuforiaTrackable aTarget = targets.get(targetIndex);
-        aTarget.setName(targetName);
-        aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz)));
-    }
-}

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

@@ -1,274 +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.XZY;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
-
-/**
- * This OpMode illustrates using the Vuforia localizer to determine positioning and orientation of
- * robot on the FTC field using a WEBCAM.  The code is structured as a LinearOpMode
- *
- * NOTE: If you are running on a Phone with a built-in camera, use the ConceptVuforiaFieldNavigation example instead of this one.
- * NOTE: It is possible to switch between multiple WebCams (eg: one for the left side and one for the right).
- *       For a related example of how to do this, see ConceptTensorFlowObjectDetectionSwitchableCameras
- *
- * 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.
- *
- * Finally, the location of the camera on the robot is used to determine the
- * robot's location and orientation on the field.
- *
- * To learn more about the FTC field coordinate model, see FTC_FieldCoordinateSystemDefinition.pdf in this folder
- *
- * 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="Vuforia Field Nav Webcam", group ="Concept")
-@Disabled
-public class ConceptVuforiaFieldNavigationWebcam extends LinearOpMode {
-
-    /*
-     * 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
-    private static final float halfField        = 72 * mmPerInch;
-    private static final float halfTile         = 12 * mmPerInch;
-    private static final float oneAndHalfTile   = 36 * mmPerInch;
-
-    // Class Members
-    private OpenGLMatrix lastLocation   = null;
-    private VuforiaLocalizer vuforia    = null;
-    private VuforiaTrackables targets   = null ;
-    private WebcamName webcamName       = null;
-
-    private boolean targetVisible       = false;
-
-    @Override public void runOpMode() {
-        // Connect to the camera we are to use.  This name must match what is set up in Robot Configuration
-        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 screen);
-         * If no camera-preview is desired, use the parameter-less constructor instead (commented out below).
-         * Note: A preview window is required if you want to view the camera stream on the Driver Station Phone.
-         */
-        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 we wish to use.
-        parameters.cameraName = webcamName;
-
-        // Turn off Extended tracking.  Set this true if you want Vuforia to track beyond the target.
-        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.
-        targets = this.vuforia.loadTrackablesFromAsset("FreightFrenzy");
-
-        // For convenience, gather together all the trackable objects in one easily-iterable collection */
-        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
-        allTrackables.addAll(targets);
-
-        /**
-         * 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.
-         */
-
-        // Name and locate each trackable object
-        identifyTarget(0, "Blue Storage",       -halfField,  oneAndHalfTile, mmTargetHeight, 90, 0, 90);
-        identifyTarget(1, "Blue Alliance Wall",  halfTile,   halfField,      mmTargetHeight, 90, 0, 0);
-        identifyTarget(2, "Red Storage",        -halfField, -oneAndHalfTile, mmTargetHeight, 90, 0, 90);
-        identifyTarget(3, "Red Alliance Wall",   halfTile,  -halfField,      mmTargetHeight, 90, 0, 180);
-
-        /*
-         * Create a transformation matrix describing where the camera is on the robot.
-         *
-         * 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.
-         *
-         * For a WebCam, the default starting orientation of the camera is looking UP (pointing in the Z direction),
-         * with the wide (horizontal) axis of the camera aligned with the X axis, and
-         * the Narrow (vertical) axis of the camera aligned with the Y axis
-         *
-         * But, this example assumes that the camera is actually facing forward out the front of the robot.
-         * So, the "default" camera position requires two rotations to get it oriented correctly.
-         * 1) First it must be rotated +90 degrees around the X axis to get it horizontal (its now facing out the right side of the robot)
-         * 2) Next it must be be rotated +90 degrees (counter-clockwise) around the Z axis to face forward.
-         *
-         * Finally the camera can be translated to its actual mounting position on the robot.
-         *      In this example, it is centered on the robot (left-to-right and front-to-back), and 6 inches above ground level.
-         */
-
-        final float CAMERA_FORWARD_DISPLACEMENT  = 0.0f * mmPerInch;   // eg: Enter the forward distance from the center of the robot to the camera lens
-        final float CAMERA_VERTICAL_DISPLACEMENT = 6.0f * mmPerInch;   // eg: Camera is 6 Inches above ground
-        final float CAMERA_LEFT_DISPLACEMENT     = 0.0f * mmPerInch;   // eg: Enter the left distance from the center of the robot to the camera lens
-
-        OpenGLMatrix cameraLocationOnRobot = OpenGLMatrix
-                    .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
-                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XZY, DEGREES, 90, 90, 0));
-
-        /**  Let all the trackable listeners know where the camera is.  */
-        for (VuforiaTrackable trackable : allTrackables) {
-            ((VuforiaTrackableDefaultListener) trackable.getListener()).setCameraLocationOnRobot(parameters.cameraName, cameraLocationOnRobot);
-        }
-
-        /*
-         * 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.
-         * It is not permitted to transition to RUN while the camera preview window is active.
-         * Either press STOP to exit the OpMode, or use the "options menu" again, and select "Camera Stream" to close the preview window.
-         */
-
-        targets.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 (inches)", "{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;
-        targets.deactivate();
-    }
-
-    /***
-     * Identify a target by naming it, and setting its position and orientation on the field
-     * @param targetIndex
-     * @param targetName
-     * @param dx, dy, dz  Target offsets in x,y,z axes
-     * @param rx, ry, rz  Target rotations in x,y,z axes
-     */
-    void    identifyTarget(int targetIndex, String targetName, float dx, float dy, float dz, float rx, float ry, float rz) {
-        VuforiaTrackable aTarget = targets.get(targetIndex);
-        aTarget.setName(targetName);
-        aTarget.setLocation(OpenGLMatrix.translation(dx, dy, dz)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, rx, ry, rz)));
-    }
-}

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

@@ -33,11 +33,10 @@ 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.Servo;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-/**
- * This file illustrates the concept of driving a path based on encoder counts.
+/*
+ * 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,
@@ -59,7 +58,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
  *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
  *
  * 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
  */
 
 @Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
@@ -131,7 +130,7 @@ public class RobotAutoDriveByEncoder_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,
@@ -139,7 +138,7 @@ public class RobotAutoDriveByEncoder_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

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

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017 FIRST. All rights reserved.
+/* 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
@@ -29,44 +29,63 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
-import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
+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 file illustrates the concept of driving a path based on Gyro heading and encoder counts.
+/*
+ *  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 code REQUIRES that you DO have encoders on the wheels,
- *   otherwise you would use: RobotAutoDriveByTime;
+ *  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.
  *
- *  This code ALSO requires that you have a Modern Robotics I2C gyro with the name "gyro"
- *   otherwise you would use: RobotAutoDriveByEncoder;
+ *  The code REQUIRES that you have encoders on the drive motors, otherwise you should use: RobotAutoDriveByTime;
  *
- *  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 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 code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
+ *  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.
  *
- *  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.
+ *  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.
  *
- *  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.
+ *  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:
- *  ftc_app\doc\tutorial\FTC_FieldCoordinateSystemDefinition.pdf
+ *  https://ftc-docs.firstinspires.org/field-coordinate-system
  *
- *  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
+ *  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")
@@ -76,9 +95,19 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
     /* Declare OpMode members. */
     private DcMotor         leftDrive   = null;
     private DcMotor         rightDrive  = null;
-    ModernRoboticsI2cGyro   gyro    = null;                    // Additional Gyro device
+    private IMU             imu         = null;      // Control/Expansion Hub IMU
 
-    private double          robotHeading = 0;
+    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
@@ -86,20 +115,24 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
     // 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     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
-    // 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
+    // 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
@@ -115,121 +148,245 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
         leftDrive.setDirection(DcMotor.Direction.REVERSE);
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        gyro = (ModernRoboticsI2cGyro)hardwareMap.gyroSensor.get("gyro");
+        /* 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);
 
-        // Ensure the robot it stationary, then reset the encoders and calibrate the gyro.
+        // 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);
 
-        // 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();
-
-        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        // Wait for the game to start (Display Gyro value)
+        // Wait for the game to start (Display Gyro value while waiting)
         while (opModeInInit()) {
             telemetry.addData(">", "Robot Heading = %4.0f", getHeading());
             telemetry.update();
         }
 
-        // Reset gyro before we move..
-        gyro.resetZAxisIntegrator();
-        getHeading();
+        // 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,
-        // 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  CW 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  CCW  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
+        // 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.addData("Final Heading", "%5.0f", getHeading());
         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.  ********************
+
     /**
-    *  Method to drive on a fixed compass bearing (angle), based on encoder counts.
+    *  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.
+    *  2) Driver stops the OpMode running.
     *
-    * @param speed      Target speed for forward motion.  Should allow for +/- variance for adjusting heading
+    * @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 angle      Absolute Angle (in Degrees) relative to last gyro reset.
+    * @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.
+    *                   If a relative angle is required, add/subtract from the current robotHeading.
     */
-    public void gyroDrive ( double speed,
+    public void driveStraight(double maxDriveSpeed,
                               double distance,
-                            double angle) {
+                              double heading) {
 
-        int     newLeftTarget;
-        int     newRightTarget;
-        int     moveCounts;
-        double  max;
-        double  error;
-        double  steer;
-        double  leftSpeed;
-        double  rightSpeed;
-
-        // 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
-            moveCounts = (int)(distance * COUNTS_PER_INCH);
-            newLeftTarget = leftDrive.getCurrentPosition() + moveCounts;
-            newRightTarget = rightDrive.getCurrentPosition() + moveCounts;
+            int moveCounts = (int)(distance * COUNTS_PER_INCH);
+            leftTarget = leftDrive.getCurrentPosition() + moveCounts;
+            rightTarget = rightDrive.getCurrentPosition() + moveCounts;
 
-            // Set Target and Turn On RUN_TO_POSITION
-            leftDrive.setTargetPosition(newLeftTarget);
-            rightDrive.setTargetPosition(newRightTarget);
+            // 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);
 
-            // start motion.
-            speed = Range.clip(Math.abs(speed), 0.0, 1.0);
-            leftDrive.setPower(speed);
-            rightDrive.setPower(speed);
+            // 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())) {
 
-                // adjust relative speed based on heading error.
-                error = getError(angle);
-                steer = getSteer(error, P_DRIVE_COEFF);
+                // 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)
-                    steer *= -1.0;
+                    turnSpeed *= -1.0;
 
-                leftSpeed = speed - steer;
-                rightSpeed = speed + steer;
+                // Apply the turning correction to the current driving speed.
+                moveRobot(driveSpeed, turnSpeed);
 
-                // Normalize speeds if either one exceeds +/- 1.0;
-                max = Math.max(Math.abs(leftSpeed), Math.abs(rightSpeed));
+                // 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;
@@ -238,151 +395,35 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
 
         leftDrive.setPower(leftSpeed);
         rightDrive.setPower(rightSpeed);
+    }
 
-                // Display drive status for the driver.
-                telemetry.addData("Angle Target:Current", "%5.2f:%5.0f", angle, robotHeading);
-                telemetry.addData("Error:Steer",  "%5.1f:%5.1f",  error, steer);
-                telemetry.addData("Target L:R",  "%7d:%7d",      newLeftTarget,  newRightTarget);
-                telemetry.addData("Actual L:R",  "%7d:%7d",      leftDrive.getCurrentPosition(),
+    /**
+     *  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());
-                telemetry.addData("Speed L:R",   "%5.2f:%5.2f",  leftSpeed, rightSpeed);
+        } 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();
     }
 
-            // Stop all motion;
-            leftDrive.setPower(0);
-            rightDrive.setPower(0);
-
-            // Turn off RUN_TO_POSITION
-            leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-            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;
-        leftDrive.setPower(0);
-        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.
-        leftDrive.setPower(leftSpeed);
-        rightDrive.setPower(rightSpeed);
-
-        // Display it for the driver.
-        telemetry.addData("Target/Current", "%5.2f / %5.0f", angle, robotHeading);
-        telemetry.addData("Error/Steer", "%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 - getHeading();
-        while (robotError > 180)  robotError -= 360;
-        while (robotError <= -180) robotError += 360;
-        return robotError;
-    }
-
-    /**
-     * read and save the current robot heading
+     * read the Robot heading directly from the IMU (in degrees)
      */
     public double getHeading() {
-        robotHeading = (double)gyro.getIntegratedZValue();
-        return robotHeading;
+        YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
+        return orientation.getYaw(AngleUnit.DEGREES);
     }
-
-    /**
-     * 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/RobotAutoDriveByTime_Linear.java

@@ -35,8 +35,8 @@ 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.
+/*
+ * 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,

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

@@ -32,15 +32,13 @@ 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.ColorSensor;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.LightSensor;
 import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
 import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 import com.qualcomm.robotcore.hardware.SwitchableLight;
 
-/**
- * This file illustrates the concept of driving up to a line and then stopping.
+/*
+ * 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.
@@ -70,7 +68,7 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
     private DcMotor         leftDrive   = null;
     private DcMotor         rightDrive  = null;
 
-    /** The colorSensor field will contain a reference to our color sensor hardware object */
+    /** 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
@@ -90,8 +88,8 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // 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);
+        // 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

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

@@ -36,8 +36,8 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.Range;
 
-/**
- * This particular OpMode executes a POV Game style Teleop for a direct drive robot
+/*
+ * This OpMode executes a POV Game style Teleop for a direct drive robot
  * The code is structured as a LinearOpMode
  *
  * In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
@@ -45,7 +45,7 @@ import com.qualcomm.robotcore.util.Range;
  * It also opens and closes the claws slowly using the left and right Bumper buttons.
  *
  * 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="Robot: Teleop POV", group="Robot")
@@ -86,8 +86,8 @@ public class RobotTeleopPOV_Linear extends LinearOpMode {
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // 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);
+        // 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");
@@ -96,7 +96,7 @@ public class RobotTeleopPOV_Linear extends LinearOpMode {
         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)

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

@@ -36,8 +36,8 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.Servo;
 import com.qualcomm.robotcore.util.Range;
 
-/**
- * This particular OpMode executes a Tank Drive control TeleOp a direct drive robot
+/*
+ * This OpMode executes a Tank Drive control TeleOp a direct drive robot
  * The code is structured as an Iterative OpMode
  *
  * In this mode, the left and right joysticks control the left and right motors respectively.
@@ -84,8 +84,8 @@ public class RobotTeleopTank_Iterative extends OpMode{
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
         // 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);
+        // 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");
@@ -94,7 +94,7 @@ public class RobotTeleopTank_Iterative extends OpMode{
         rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData("Say", "Hello Driver");    //
+        telemetry.addData(">", "Robot Ready.  Press Play.");    //
     }
 
     /*

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/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
+ *     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>
- *     <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
+ *     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>
- * </li>
  *
- * <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";

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;
@@ -40,11 +39,10 @@ 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
+/*
+ * 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".
  *
@@ -78,7 +76,7 @@ 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 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

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;
@@ -40,10 +39,10 @@ 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.
@@ -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

@@ -33,19 +33,17 @@ 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.
@@ -55,7 +53,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
 @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

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()));

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

@@ -32,50 +32,44 @@ 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() {
 
-    IrSeekerSensor irSeeker;    // Hardware Device Object
-
-    // get a reference to our GyroSensor object.
-    irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir");
+        // get a reference to our touchSensor object.
+        touchSensor = hardwareMap.get(TouchSensor.class, "sensor_touch");
 
         // 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()) {
 
-      // 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");
+            // 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");
             }
 
             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

@@ -37,14 +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
 * 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.
+            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 Robot.
-            Look at any Robot sample to see how this can be used in an OpMode.
-            Teams can copy one of these to create their own robot definition.
-
-Robot:	This is a Sample OpMode that uses the Robot robot hardware as a base.
-            It may be used to provide some standard baseline Robot opmodes, or
-            to demonstrate how a particular sensor or concept can be used directly on the
-            Robot 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
 * 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

@@ -306,9 +306,9 @@ 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 that what was installed previously
+    // 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(YearMonth.now()).getValue();
+    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.
@@ -395,10 +395,9 @@ 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);
@@ -499,19 +498,6 @@ 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() {
     // Control hubs are always running the access point model.  Everything else, for the time
     // being always runs the Wi-Fi Direct model.
@@ -639,8 +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);

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/values/strings.xml

@@ -65,7 +65,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       <item>@style/AppThemeTealRC</item>
   </integer-array>
 
-  <string name="pref_ftc_season_year_of_current_rc">pref_ftc_season_year_of_current_rc</string>
+  <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>
 

IMU.md

@@ -0,0 +1,10 @@
+# IMU
+
+## Current list of IMUs
+
+| Robot Name         | Control Hub Firmware | Control Hub IMU | Expansion Hub?  | Expansion Hub Firmware | Expansion Hub IMU |
+|--------------------|----------------------|-----------------|-----------------|------------------------|-------------------|
+| 14493-RC           | 1.8.2                | None            | Yes             | 1.8.2                  | None              |
+| 14493-b-RC         | 1.8.2                | None            | Yes             | 1.8.2                  | None              |
+| 14493-RC-Chassis   | 1.8.2                | BNO055          | No              | N/A                    | N/A               |
+

README.md

@@ -1,16 +1,21 @@
 ## NOTICE
 
-This repository contains the public FTC SDK for the Freight Frenzy (2021-2022) competition season.
+This repository contains the public FTC SDK for the CENTERSTAGE (2023-2024) competition season.
 
 ## Welcome!
 This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot.  To use this SDK, download/clone the entire project to your local computer.
 
+## Requirements
+To use this Android Studio project, you will need Android Studio 2021.2 (codename Chipmunk) or later.
+
+To program your robot in Blocks or OnBot Java, you do not need Android Studio.
+
 ## Getting Started
-If you are new to robotics or new to the *FIRST* Tech Challenge, then you should consider reviewing the [FTC Blocks Tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial) to get familiar with how to use the control system:
+If you are new to robotics or new to the *FIRST* Tech Challenge, then you should consider reviewing the [FTC Blocks Tutorial](https://ftc-docs.firstinspires.org/programming_resources/blocks/Blocks-Tutorial.html) to get familiar with how to use the control system:
 
-      [FTC Blocks Online Tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial)
+      [FTC Blocks Online Tutorial](https://ftc-docs.firstinspires.org/programming_resources/blocks/Blocks-Tutorial.html)
 
-Even if you are an advanced Java programmer, it is helpful to start with the [FTC Blocks tutorial](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Blocks-Tutorial), and then migrate to the [OnBot Java Tool](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/OnBot-Java-Tutorial) or to [Android Studio](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Android-Studio-Tutorial) afterwards.
+Even if you are an advanced Java programmer, it is helpful to start with the [FTC Blocks tutorial](https://ftc-docs.firstinspires.org/programming_resources/blocks/Blocks-Tutorial.html), and then migrate to the [OnBot Java Tool](https://ftc-docs.firstinspires.org/programming_resources/onbot_java/OnBot-Java-Tutorial.html) or to [Android Studio](https://ftc-docs.firstinspires.org/programming_resources/android_studio_java/Android-Studio-Tutorial.html) afterwards.
 
 ## Downloading the Project
 If you are an Android Studio programmer, there are several ways to download this repo.  Note that if you use the Blocks or OnBot Java Tool to program your robot, then you do not need to download this repository.
@@ -31,7 +36,7 @@ Once you have downloaded and uncompressed (if needed) your folder, you can use A
 ### User Documentation and Tutorials
 *FIRST* maintains online documentation with information and tutorials on how to use the *FIRST* Tech Challenge software and robot control system.  You can access this documentation using the following link:
 
-      [FtcRobotController Online Documentation](https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki)
+      [FIRST Tech Challenge Documentation](https://ftc-docs.firstinspires.org/index.html)
 
 Note that the online documentation is an "evergreen" document that is constantly being updated and edited.  It contains the most current information about the *FIRST* Tech Challenge software and control system.
 
@@ -41,9 +46,9 @@ The Javadoc reference documentation for the FTC SDK is now available online.  Cl
       [FTC Javadoc Documentation](https://javadoc.io/doc/org.firstinspires.ftc)
 
 ### Online User Forum
-For technical questions regarding the Control System or the FTC SDK, please visit the FTC Technology forum:
+For technical questions regarding the Control System or the FTC SDK, please visit the FIRST Tech Challenge Community site:
 
-      [FTC Technology Forum](https://ftcforum.firstinspires.org/forum/ftc-technology)
+      [FIRST Tech Challenge Community](https://ftc-community.firstinspires.org/)
 
 ### Sample OpModes
 This project contains a large selection of Sample OpModes (robot code examples) which can be cut and pasted into your /teamcode folder to be used as-is, or modified to suit your team's needs.
@@ -54,10 +59,287 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 9.1 (20240215-115542)
+
+### Enhancements
+* Fixes a problem with Blocks: if the user closes a Block's warning balloon, it will still be closed next time the project is opened in the Blocks editor.
+* In the Blocks editor, an alert concerning missing hardware devices is not shown if all the Blocks that use the missing hardware devices are disabled.
+* Adds Blocks to support comparing property values CRServo.Direction, DCMotor.Direction, DCMotor.Mode, DCMotor.ZeroPowerBehavior, DigitalChannel.Mode, GyroSensor.HeadingMode, IrSeekerSensor.Mode, and Servo.Direction, to the corresponding enum Block.
+* Improves OnBotJava auto-import to correctly import classes when used in certain situations.
+* Improves OnBotJava autocomplete to provide better completion options in most cases.
+  * This fixes an issue where autocomplete would fail if a method with two or more formal parameters was defined.
+* In OnBotJava, code folding support was added to expand and collapse code sections
+* In OnBotJava, the copyright header is now automatically collapsed loading new files
+* For all Blocks OpMode samples, intro comments have been moved to the RunOpMode comment balloon.
+* The Clean up Blocks command in the Blocks editor now positions function Blocks so their comment balloons don't overlap other function Blocks.
+* Added Blocks OpMode sample SensorTouch.
+* Added Java OpMode sample SensorDigitalTouch.
+* Several improvements to VisionPortal
+  * Adds option to control whether the stream is automatically started following a `.build()` call on a VisionPortal Builder
+  * Adds option to control whether the vision processing statistics overlay is rendered or not
+  * VisionPortals now implement the `CameraStreamSource` interface, allowing multiportal users to select which portal is routed to the DS in INIT by calling CameraStreamServer.getInstance().setSource(visionPortal). Can be selected via gamepad, between Camera Stream sessions.
+  * Add option to `AprilTagProcessor` to suppress calibration warnings
+  * Improves camera calibration warnings
+    * If a calibration is scaled, the resolution it was scaled from will be listed
+    * If calibrations exist with the wrong aspect ratio, the calibrated resolutions will be listed
+  * Fixes race condition which caused app crash when calling `stopStreaming()` immediately followed by `close()` on a VisionPortal
+  * Fixes IllegalStateException when calling `stopStreaming()` immediately after building a VisionPortal
+  * Added FTC Blocks counterparts to new Java methods:
+    * VisionPortal.Builder.setAutoStartStreamOnBuild
+    * VisionPortal.Builder.setShowStatsOverlay
+    * AprilTagProcessor.Builder.setSuppressCalibrationWarnings
+    * CameraStreamServer.setSource​
+
+### Bug Fixes
+* Fixes a problem where OnBotJava does not apply font size settings to the editor.
+* Updates EasyOpenCV dependency to v1.7.1
+  * Fixes inability to use EasyOpenCV CameraFactory in OnBotJava
+  * Fixes entire RC app crash when user pipeline throws an exception
+  * Fixes entire RC app crash when user user canvas annotator throws an exception
+  * Use the modern stacktrace display when handling user exceptions instead of the legacy ESTOP telemetry message
+
+## Version 9.0.1 (20230929-083754)
+
+### Enhancements
+* Updates AprilTag samples to include Decimation and additional Comments.  Also corrects misleading tag ID warnings
+* Increases maximum size of Blocks inline comments to 140 characters
+* Adds Blocks sample BasicOmniOpMode.
+* Updated CENTERSTAGE library AprilTag orientation quaternions
+    * Thanks [@FromenActual](https://github.com/FromenActual)
+* Updated Java Sample ConceptTensorFlowObjectDetection.java to include missing elements needed for custom model support.
+
+### Bug Fixes
+* Fixes a problem where after October 1 the Driver Station will report as obsolete on v9.0 and prompt the user to update.
+
+## Version 9.0 (20230830-154348)
+
+### Breaking Changes
+* Removes Vuforia
+* Fields in `AprilTagDetection` and `AprilTagPose(ftc/raw)` objects are now `final`
+* VisionPortal builder method `setCameraMonitorViewId()` has been renamed to `setLiveViewContainerId()` and `enableCameraMonitoring()` has been renamed to `enableLiveView()`
+
+### Enhancements
+* Adds support for the DFRobot HuskyLens Vision Sensor.
+* Blocks teams can now perform webcam calibration.
+    * Added a Block for System.currentTimeMillis (under Utilities/Time)
+    * Added a Block for VisionPortal.saveNextFrameRaw (under Vision/VisionPortal)
+    * Added a new sample Blocks OpMode called UtilityCameraFrameCapture.
+* The RobotDriveByGyro sample has been updated to use the new universal IMU interface.  It now supports both IMU types.
+* Removed some error-prone ElapsedTime Blocks from the Blocks editor's toolbox. This is not a
+  breaking change: old Blocks OpModes that use these Blocks will still function, both in the
+  Blocks editor and at runtime.
+* Standardizes on the form "OpMode" for the term OpMode.
+    * The preferred way to refer to OpModes that specifically extend `LinearOpMode` (including Blocks OpModes) is "linear OpMode".
+    * The preferred way to refer to OpModes that specifically extend `OpMode` directly is "iterative OpMode".
+* Overhauls `OpMode` and `LinearOpMode` Javadoc comments to be easier to read and include more detail.
+* Makes minor enhancements to Java samples
+    * Javadoc comments in samples that could be rendered badly in Android Studio have been converted to standard multi-line comments
+    * Consistency between samples has been improved
+    * The SensorDigitalTouch sample has been replaced with a new SensorTouch sample that uses the `TouchSensor` interface instead of `DigitalChannel`.
+    * The ConceptCompassCalibration, SensorMRCompass, and SensorMRIRSeeker samples have been deleted, as they are not useful for modern FTC competitions.
+
+### Bug Fixes
+* Fixes a bug which prevented PlayStation gamepads from being used in bluetooth mode. Bluetooth is NOT legal for competition but may be useful to allow a DS device to be used while charging, or at an outreach event.
+* Fixes a bug where a Blocks OpMode's Date Modified value can change to December 31, 1969, if the Control Hub is rebooted while the Blocks OpMode is being edited.
+* Fixes the automatic TeleOp preselection feature (was broken in 8.2)
+* Fixes a bug where passing an integer number such as 123 to the Telemetry.addData block that takes a number shows up as 123.0 in the telemetry.
+* Fixes OnBotJava autocomplete issues:
+  * Autocomplete would incorrectly provide values for the current class when autocompleting a local variable
+  * `hardwareMap` autocomplete would incorrectly include lambda class entries
+* Fixes OnBotJava not automatically importing classes.
+* Fixes OnBotJava tabs failing to close when their file is deleted.
+* Fixes a project view refresh not happening when a file is renamed in OnBotJava.
+* Fixes the "Download" context menu item for external libraries in the OnBotJava interface.
+* Fixes issue where Driver Station telemetry would intermittently freeze when set to Monospace mode.
+* Fixes performance regression for certain REV Hub operations that was introduced in version 8.2.
+* Fixes TagID comparison logic in DriveToTag samples.
+
+## Version 8.2 (20230707-131020)
+
+### Breaking Changes
+* Non-linear (iterative) OpModes are no longer allowed to manipulate actuators in their `stop()` method. Attempts to do so will be ignored and logged.
+  * When an OpMode attempts to illegally manipulate an actuator, the Robot Controller will print a log message
+    including the text `CANCELLED_FOR_SAFETY`.
+  * Additionally, LinearOpModes are no longer able to regain the ability to manipulate actuators by removing their
+    thread's interrupt or using another thread.
+* Removes support for Android version 6.0 (Marshmallow). The minSdkVersion is now 24.
+* Increases the Robocol version.
+  * This means an 8.2 or later Robot Controller or Driver Station will not be able to communicate with an 8.1 or earlier Driver Station or Robot Controller.
+  * If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
+* FTC_FieldCoordinateSystemDefinition.pdf has been moved.  It is still in the git history, but has been removed from the git snapshot corresponding with the 8.2 tag.  The official version now lives at [Field Coordinate System](https://ftc-docs.firstinspires.org/field-coordinate-system).
+* `LynxUsbDevice.addConfiguredModule()` and `LynxUsbDevice.getConfiguredModule()` have been replaced with `LynxUsbDevice.getOrAddModule()`.
+* Old Blocks for Vuforia and TensorFlow Object Detection are obsolete and have been removed from the
+  Blocks editor's toolbox. Existing Blocks OpModes that contain the old Blocks for Vuforia or
+  TensorFlow Object Detection can be opened in the Blocks editor, but running them will not work.
+
+### New features
+* Adds new `VisionPortal` API for computer vision
+    * **This API may be subject to change for final kickoff release!**
+    * Several new samples added.
+    * Adds support for detecting AprilTags.
+    * `VisionPortal` is the new entry point for both AprilTag and TFOD processing.
+    * Vuforia will be removed in a future release.
+    * Updated TensorFlow dependencies.
+    * Added support for webcam camera controls to blocks.
+    * The Blocks editor's toolbox now has a Vision category, directly above the Utilities category.
+* Related documentation for associated technologies can be found at
+    * [AprilTag Introduction](https://ftc-docs.firstinspires.org/apriltag-intro)
+    * [AprilTag SDK Guide](https://ftc-docs.firstinspires.org/apriltag-sdk)
+    * [AprilTag Detection Values](https://ftc-docs.firstinspires.org/apriltag-detection-values)
+    * [AprilTag Test Images](https://ftc-docs.firstinspires.org/apriltag-test-images)
+    * [Camera Calibration](https://ftc-docs.firstinspires.org/camera-calibration)
+* Adds Driver Station support for Logitech Dual Action and Sony PS5 DualSense gamepads.
+    * This **does not** include support for the Sony PS5 DualSense Edge gamepad.
+    * Always refer to Game Manual 1 to determine gamepad legality in competition.
+* Adds support for MJPEG payload streaming to UVC driver (external JPEG decompression routine required for use).
+* Shows a hint on the Driver Station UI about how to bind a gamepad when buttons are pressed or the sticks are moved on an unbound gamepad.
+* Adds option for fullscreening "Camera Stream" on Driver Station.
+* OnBotJava source code is automatically saved as a ZIP file on every build with a rolling window of the last 30 builds kept; allows recovering source code from previous builds if code is accidentally deleted or corrupted.
+* Adds support for changing the addresses of Expansion Hubs that are not connected directly via USB.
+  * The Expansion Hub Address Change screen now has an Apply button that changes the addresses without leaving the screen.
+  * Addresses that are assigned to other hubs connected to the same USB connection or Control Hub are no longer able to be selected.
+* Increases maximum size of Blocks inline comments to 100 characters
+* Saves position of open Blocks comment balloons
+* Adds new AprilTag Driving samples:  RobotDriveToAprilTagTank & RobotDriveToAprilTagOmni
+* Adds Sample to illustrate optimizing camera exposure for AprilTags: ConceptAprilTagOptimizeExposure
+
+### Bug Fixes
+* Corrects inspection screen to report app version using the SDK version defined in the libraries instead of the version specified in `AndroidManifest.xml`. This corrects the case where the app could show matching versions numbers to the user but still state that the versions did not match.
+  * If the version specified in `AndroidManifest.xml` does not match the SDK version, an SDK version entry will be displayed on the Manage webpage.
+* Fixes no error being displayed when saving a configuration file with duplicate names from the Driver Station.
+* Fixes a deadlock in the UVC driver which manifested in https://github.com/OpenFTC/EasyOpenCV/issues/57.
+* Fixes a deadlock in the UVC driver that could occur when hot-plugging cameras.
+* Fixes UVC driver compatibility with Arducam OV9281 global shutter camera.
+* Fixes Emergency Stop condition when an OnBotJava build with duplicate OpMode names occurs.
+* Fixes known causes of "Attempted use of a closed LynxModule instance" logspam.
+* Fixes the visual identification LED pattern when configuring Expansion Hubs connected via RS-485.
+
+## Version 8.1.1 (20221201-150726)
+
+This is a bug fix only release to address the following four issues.
+
+* [Issue #492](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/492) - Can't create new blocks opmodes.
+* [Issue #495](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/495) - Remove the final modifier from the OpMode's Telemetry object.
+* [Issue #500](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/500) - Some devices cannot be configured when the Driver Station app has been updated to 8.1
+  * Updating either the Robot Controller app or the Driver Station app to 8.1.1 or later will fix this issue.
+* The Modern Robotics touch sensor was configurable as a  Digital Device. It can only be used as an Analog Device.
+
+## Version 8.1 (20221121-115119)
+
+### Breaking Changes
+* Deprecates the `OpMode` fields `msStuckDetectInit`, `msStuckDetectInitLoop`, `msStuckDetectStart`, `msStuckDetectLoop`, and `msStuckDetectStop`.
+    * OpModes no longer have a time limit for `init()`, `init_loop()`, `start()` or `loop()`, so the fields corresponding to those methods are no longer used.
+    * `stop()` still has a time limit, but it is now hardcoded to be 1 second, and cannot be changed using `msStuckDetectStop`.
+* Deprecates the `OpMode` methods `internalPreInit()`, `internalPostInitLoop()`, and `internalPostLoop()`.
+    * Iterative `OpMode`s will continue to call these methods in case they were overridden.
+    * These methods will not be called at all for `LinearOpMode`s.
+* Deprecates (and stops respecting) `DeviceProperties.xmlTagAliases`.
+
+### Enhancements
+* Adds a new `IMU` interface to Blocks and Java that can be used with both the original BNO055 IMU
+  included in all older Control Hubs and Expansion Hubs, and the new alternative BHI260AP IMU.
+  * You can determine which type of IMU is in your Control Hub by navigating to the Manage page of the web interface.
+  * To learn how to use the new `IMU` interface, see https://ftc-docs.firstinspires.org/programming_resources/imu/imu.html. The `SensorIMU` Blocks sample was also updated to use the new `IMU` interface, and the following Java samples were added:
+    * `SensorIMUOrthogonal`
+      * Use this sample if your REV Hub is mounted so that it is parallel or perpendicular to the
+        bottom of your robot.
+    * `SensorIMUNonOrthogonal`
+      * Use this sample if your REV Hub is mounted to your robot in any other orientation
+    * `ConceptExploringIMUOrientations`
+      * This OpMode is a tool to help you understand how the orthogonal orientations work, and
+        which one applies to your robot.
+  * The BHI260AP IMU can only be accessed via the new `IMU` interface. The BNO055 IMU can be
+    programmed using the new `IMU` interface, or you can continue to program it using the old `BNO055IMU`
+    interface. If you want to be able to quickly switch to a new Control Hub that may contain the
+    BHI260AP IMU, you should migrate your code to use the new `IMU` interface.
+  * Unlike the old `BNO055IMU` interface, which only worked correctly when the REV Hub was mounted flat
+    on your robot, the `IMU` interface allows you to specify the orientation of the REV Hub on your
+    robot. It will account for this, and give you your orientation in a Robot Coordinate System,
+    instead of a special coordinate system for the REV Hub. As a result, your pitch and yaw will be
+    0 when your *robot* is level, instead of when the REV Hub is level, which will result in much
+    more reliable orientation angle values for most mounting orientations.
+  * Because of the new robot-centric coordinate system, the pitch and roll angles returned by the
+    `IMU` interface will be different from the ones returned by the `BNO055IMU` interface. When you are
+    migrating your code, pay careful attention to the documentation.
+  * If you have calibrated your BNO055, you can provide that calibration data to the new `IMU`
+    interface by passing a `BNO055IMUNew.Parameters` instance to `IMU.initialize()`.
+  * The `IMU` interface is also suitable for implementation by third-party vendors for IMUs that
+    support providing the orientation in the form of a quaternion.
+* Iterative `OpMode`s (as opposed to `LinearOpMode`s) now run on a dedicated thread.
+    * Cycle times should not be as impacted by everything else going on in the system.
+    * Slow `OpMode`s can no longer increase the amount of time it takes to process network commands, and vice versa.
+    * The `init()`, `init_loop()`, `start()` and `loop()` methods no longer need to return within a certain time frame.
+* BNO055 IMU legacy driver: restores the ability to initialize in one OpMode, and then have another OpMode re-use that
+  initialization. This allows you to maintain the 0-yaw position between OpModes, if desired.
+* Allows customized versions of device drivers in the FTC SDK to use the same XML tag.
+  * Before, if you wanted to customize a device driver, you had to copy it to a new class _and_ give
+    it a new XML tag. Giving it a new XML tag meant that to switch which driver was being used, you
+    had to modify your configuration file.
+  * Now, to use your custom driver, all you have to do is specify your custom driver's class when
+    calling `hardwareMap.get()`. To go back to the original driver, specify the original driver
+    class. If you specify an interface that is implemented by both the original driver and the
+    custom driver, there is no guarantee about which implementation will be returned.
+
+### Bug Fixes
+* Fixes accessing the "Manage TensorFlow Lite Models" and "Manage Sounds" links and performing
+  Blocks and OnBotJava OpMode downloads from the REV Hardware Client.
+* Fixes issue where an I2C device driver would be auto-initialized using the parameters assigned in
+  a previous OpMode run.
+* Improves Driver Station popup menu placement in the landscape layout.
+* Fixes NullPointerException when attempting to get a non-configured BNO055 IMU in a Blocks OpMode on an RC phone.
+* Fixes problem with Blocks if a variable is named `orientation`.
+
+## Version 8.0 (20220907-131644)
+
+### Breaking Changes
+* Increases the Robocol version.
+  * This means an 8.0 or later Robot Controller or Driver Station will not be able to communicate with a 7.2 or earlier Driver Station or Robot Controller.
+  * If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
+* Initializing I2C devices now happens when you retrieve them from the `HardwareMap` for the first time.
+  * Previously, all I2C devices would be initialized before the OpMode even began executing,
+    whether you were actually going to use them or not. This could result in reduced performance and
+    unnecessary warnings.
+  * With this change, it is very important for Java users to retrieve all needed devices from the
+    `HardwareMap` **during the Init phase of the OpMode**. Namely, declare a variable for each hardware
+    device the OpMode will use, and assign a value to each. Do not do this during the Run phase, or your
+    OpMode may briefly hang while the devices you are retrieving get initialized.
+  * OpModes that do not use all of the I2C devices specified in the configuration file should take
+    less time to initialize. OpModes that do use all of the specified I2C devices should take the
+    same amount of time as previously.
+* Fixes [issue #251](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/251) by changing the order in which axis rotation rates are read from the angular velocity vector in the BNO055 IMU driver.
+* Deprecates `pitchMode` in `BNO055IMU.Parameters`.
+  * Setting `pitchMode` to `PitchMode.WINDOWS` would break the coordinate conventions used by the driver.
+* Moves `OpModeManagerImpl` to the `com.qualcomm.robotcore.eventloop.opmode` package.
+  * This breaks third party libraries EasyOpenCV (version 1.5.1 and earlier) and FTC Dashboard (version 0.4.4 and earlier).
+* Deletes the deprecated `OpMode` method `resetStartTime()` (use `resetRuntime()` instead).
+* Deletes the protected `LinearOpMode.LinearOpModeHelper` class (which was not meant for use by OpModes).
+* Removes I2C Device (Synchronous) config type (deprecated since 2018)
+
+### Enhancements
+* Uncaught exceptions in OpModes no longer require a Restart Robot
+  * A blue screen popping up with a stacktrace is not an SDK error; this replaces the red text in the telemetry area.
+  * Since the very first SDK release, OpMode crashes have put the robot into "EMERGENCY STOP" state, only showing the first line of the exception, and requiring the user to press "Restart Robot" to continue
+  * Exceptions during an OpMode now open a popup window with the same color scheme as the log viewer, containing 15 lines of the exception stacktrace to allow easily tracing down the offending line without needing to connect to view logs over ADB or scroll through large amounts of logs in the log viewer.
+  * The exception text in the popup window is both zoomable and scrollable just like a webpage.
+  * Pressing the "OK" button in the popup window will return to the main screen of the Driver Station and allow an OpMode to be run again immediately, without the need to perform a "Restart Robot"
+* Adds new Java sample to demonstrate using a hardware class to abstract robot actuators, and share them across multiple OpModes.
+  * Sample OpMode is [ConceptExternalHardwareClass.java](FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java)
+  * Abstracted hardware class is [RobotHardware.java](FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotHardware.java)
+* Updates RobotAutoDriveByGyro_Linear Java sample to use REV Control/Expansion hub IMU.
+* Updates Vuforia samples to reference PowerPlay assets and have correct names and field locations of image targets.
+* Updates TensorFlow samples to reference PowerPlay assets.
+* Adds opt-in support for Java 8 language features to the OnBotJava editor.
+  * To opt in, open the OnBotJava Settings, and check `Enable beta Java 8 support`.
+  * Note that Java 8 code will only compile when the Robot Controller runs Android 7.0 Nougat or later.
+  * Please report issues [here](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues).
+* In OnBotJava, clicking on build errors now correctly jumps to the correct location.
+* Improves OnBotJava autocomplete behavior, to provide better completion options in most cases.
+* Adds a QR code to the Robot Controller Inspection Report when viewed from the Driver Station for scanning by inspectors at competition.
+* Improves I2C performance and reliability in some scenarios.
+
 ## Version 7.2 (20220723-130006)
 
 ### Breaking Changes
-
 * Updates the build tooling.  For Android Studio users, this change requires Android Studio Chipmunk 2021.2.1.
 * Removes support for devices that are not competition legal, including Modern Robotics Core Control Modules, the Matrix Controller, and HiTechnic/NXT controllers and sensors.  Support remains for Modern Robotics I2C sensors.
 
@@ -131,8 +413,8 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
     * External libraries can provide support for hardware devices by using the annotation in the
       com.qualcomm.robotcore.hardware.configuration.annotations package.
     * External libraries can include .so files for native code.
-    * External libraries can be used from OnBotJava op modes.
-    * External libraries that use the following annotations can be used from Blocks op modes.
+    * External libraries can be used from OnBotJava OpModes.
+    * External libraries that use the following annotations can be used from Blocks OpModes.
       * org.firstinspires.ftc.robotcore.external.ExportClassToBlocks
       * org.firstinspires.ftc.robotcore.external.ExportToBlocks
     * External libraries that use the following annotations can add new hardware devices:
@@ -262,8 +544,8 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
       Position PIDF values: `P = 5.0`
 
 ### New features
-* Includes TensorFlow inference model and sample op modes to detect Ultimate Goal Starter Stacks (four rings vs single ring stack).
-* Includes Vuforia Ultimate Goal vision targets and sample op modes.
+* Includes TensorFlow inference model and sample OpModes to detect Ultimate Goal Starter Stacks (four rings vs single ring stack).
+* Includes Vuforia Ultimate Goal vision targets and sample OpModes.
 * Introduces a digital zoom feature for TensorFlow object detection (to detect objects more accurately at greater distances).
 * Adds configuration entry for the REV UltraPlanetary HD Hex motor
 
@@ -479,7 +761,7 @@ Version 5.5 requires Android Studio 4.0 or later.
     * Large dropdown lists display properly on lower res screens
     * Disabled buttons are now visually identifiable as disabled
     * A warning is shown if a user selects a TFOD sample, but their device is not compatible
-    * Warning messages in a Blocks op mode are now visible by default.
+    * Warning messages in a Blocks OpMode are now visible by default.
 * Adds goBILDA 5201 and 5202 motors to Robot Configurator
 * Adds PIDF Annotation values to AndyMark, goBILDA and TETRIX motor configurations.
     This has the effect of causing the RUN_USING_ENCODERS and RUN_TO_POSITION modes to use
@@ -497,12 +779,12 @@ Version 5.5 requires Android Studio 4.0 or later.
 ## Version 5.2 (20190905-083277)
 * Fixes extra-wide margins on settings activities, and placement of the new configuration button
 * Adds Skystone Vuforia image target data.
-   * Includes sample Skystone Vuforia Navigation op modes (Java).
-   * Includes sample Skystone Vuforia Navigation op modes (Blocks).
+   * Includes sample Skystone Vuforia Navigation OpModes (Java).
+   * Includes sample Skystone Vuforia Navigation OpModes (Blocks).
 * Adds TensorFlow inference model (.tflite) for Skystone game elements.
-   * Includes sample Skystone TensorFlow op modes (Java).
-   * Includes sample Skystone TensorFlow op modes (Blocks).
-* Removes older (season-specific) sample op modes.
+   * Includes sample Skystone TensorFlow OpModes (Java).
+   * Includes sample Skystone TensorFlow OpModes (Blocks).
+* Removes older (season-specific) sample OpModes.
 * Includes 64-bit support (to comply with [Google Play requirements](https://android-developers.googleblog.com/2019/01/get-your-apps-ready-for-64-bit.html)).
 * Protects against Stuck OpModes when a Restart Robot is requested. (Thanks to FROGbots-4634) ([ftc_app issue #709](https://github.com/ftctechnh/ftc_app/issues/709))
 * Blocks related changes:
@@ -575,10 +857,10 @@ Known issues:
  * Block Development Tool Changes
      - Includes a fix for a problem with the Velocity blocks that were reported in the FTC Technology forum (Blocks Programming subforum).
      - Change the "Save completed successfully." message to a white color so it will contrast with a green background.
-     - Fixed the "Download image" feature so it will work if there are text blocks in the op mode.
+     - Fixed the "Download image" feature so it will work if there are text blocks in the OpMode.
  * Introduce support for Google's TensorFlow Lite technology for object detetion for 2018-2019 game.
      - TensorFlow lite can recognize Gold Mineral and Silver Mineral from 2018-2019 game.
-     - Example Java and Block op modes are included to show how to determine the relative position of the gold block (left, center, right).
+     - Example Java and Block OpModes are included to show how to determine the relative position of the gold block (left, center, right).
 
 ## Version 4.1 (released on 18.09.24)
 
@@ -587,7 +869,7 @@ Changes include:
  * Change to allow FTC Robot Controller APK to be auto-updated using FIRST Global Control Hub update scripts.
  * Removed samples for non supported / non legal hardware.
  * Improvements to Telemetry.addData block with "text" socket.
- * Updated Blocks sample op mode list to include Rover Ruckus Vuforia example.
+ * Updated Blocks sample OpMode list to include Rover Ruckus Vuforia example.
  * Update SDK library version number.
 
 ## Version 4.0 (released on 18.09.12)
@@ -657,8 +939,8 @@ Changes include:
 	+ If enabled, user provides a "Match Number" through the Driver Station user interface (top of the screen).
 	    * The Match Number is used to create a log file specifically with log statements from that particular OpMode run.
 	    * Match log files are stored in /sdcard/FIRST/matlogs on the Robot Controller.
-	    * Once an op mode run is complete, the Match Number is cleared.
-	    * This is a convenient way to create a separate match log with statements only related to a specific op mode run.
+	    * Once an OpMode run is complete, the Match Number is cleared.
+	    * This is a convenient way to create a separate match log with statements only related to a specific OpMode run.
 
  * New Devices
     - Support for REV Robotics Blinkin LED Controller.
@@ -698,9 +980,9 @@ Known issues:
 
 Changes include:
  * Blocks Changes
-     - Uses updated Google Blockly software to allow users to edit their op modes on Apple iOS devices (including iPad and iPhone).
-     - Improvement in Blocks tool to handle corrupt op mode files.
-     - Autonomous op modes should no longer get switched back to tele-op after re-opening them to be edited.
+     - Uses updated Google Blockly software to allow users to edit their OpModes on Apple iOS devices (including iPad and iPhone).
+     - Improvement in Blocks tool to handle corrupt OpMode files.
+     - Autonomous OpModes should no longer get switched back to tele-op after re-opening them to be edited.
      - The system can now detect type mismatches during runtime and alert the user with a message on the Driver Station.
  * Updated javadoc documentation for setPower() method to reflect correct range of values (-1 to +1).
  * Modified VuforiaLocalizerImpl to allow for user rendering of frames
@@ -709,11 +991,11 @@ Changes include:
 ## Version 3.5 (built on 17.10.30)
 
 Changes with version 3.5 include:
- * Introduced a fix to prevent random op mode stops, which can occur after the Robot Controller app has been paused and then resumed (for example, when a user temporarily turns off the display of the Robot Controller phone, and then turns the screen back on).
- * Introduced a fix to prevent random op mode stops, which were previously caused by random peer disconnect events on the Driver Station.
+ * Introduced a fix to prevent random OpMode stops, which can occur after the Robot Controller app has been paused and then resumed (for example, when a user temporarily turns off the display of the Robot Controller phone, and then turns the screen back on).
+ * Introduced a fix to prevent random OpMode stops, which were previously caused by random peer disconnect events on the Driver Station.
  * Fixes issue where log files would be closed on pause of the RC or DS, but not re-opened upon resume.
  * Fixes issue with battery handler (voltage) start/stop race.
- * Fixes issue where Android Studio generated op modes would disappear from available list in certain situations.
+ * Fixes issue where Android Studio generated OpModes would disappear from available list in certain situations.
  * Fixes problem where OnBot Java would not build on REV Robotics Control Hub.
  * Fixes problem where OnBot Java would not build if the date and time on the Robot Controller device was "rewound" (set to an earlier date/time).
  * Improved error message on OnBot Java that occurs when renaming a file fails.
@@ -724,8 +1006,8 @@ Changes with version 3.5 include:
 
 Changes with version 3.4 include:
  * Added telemetry.update() statement for BlankLinearOpMode template.
- * Renamed sample Block op modes to be more consistent with Java samples.
- * Added some additional sample Block op modes.
+ * Renamed sample Block OpModes to be more consistent with Java samples.
+ * Added some additional sample Block OpModes.
  * Reworded OnBot Java readme slightly.
 
 ## Version 3.3 (built on 17.09.04)
@@ -743,14 +1025,14 @@ Changes with verion 3.3 include:
     - Added support for VuMarks that will be used for the 2017-2018 season game.
  * Blocks
     - Update to latest Google Blockly release.
-    - Sample op modes can be selected as a template when creating new op mode.
+    - Sample OpModes can be selected as a template when creating new OpMode.
     - Fixed bug where the blocks would disappear temporarily when mouse button is held down.
     - Added blocks for Range.clip and Range.scale.
-    - User can now disable/enable Block op modes.
+    - User can now disable/enable Block OpModes.
     - Fix to prevent occasional Blocks deadlock.
  * OnBot Java
     - Significant improvements with autocomplete function for OnBot Java editor.
-    - Sample op modes can be selected as a template when creating new op mode.
+    - Sample OpModes can be selected as a template when creating new OpMode.
     - Fixes and changes to complete hardware setup feature.
     - Updated (and more useful) onBot welcome message.
 
@@ -758,13 +1040,13 @@ Known issues:
  * Android Studio
     - After updating to the new v3.3 Android Studio project folder, if you get error messages indicating "InvalidVirtualFileAccessException" then you might need to do a File->Invalidate Caches / Restart to clear the error.
  * OnBot Java
-    - Sometimes when you push the build button to build all op modes, the RC returns an error message that the build failed.  If you press the build button a second time, the build typically suceeds.
+    - Sometimes when you push the build button to build all OpModes, the RC returns an error message that the build failed.  If you press the build button a second time, the build typically suceeds.
 
 ## Version 3.2 (built on 17.08.02)
 
-This version of the software introduces the "OnBot Java" Development Tool.  Similar to the FTC Blocks Development Tool, the FTC OnBot Java Development Tool allows a user to create, edit and build op modes dynamically using only a Javascript-enabled web browser.
+This version of the software introduces the "OnBot Java" Development Tool.  Similar to the FTC Blocks Development Tool, the FTC OnBot Java Development Tool allows a user to create, edit and build OpModes dynamically using only a Javascript-enabled web browser.
 
-The OnBot Java Development Tool is an integrated development environment (IDE) that is served up by the Robot Controller.  Op modes are created and edited using a Javascript-enabled browser (Google Chromse is recommended).  Op modes are saved on the Robot Controller Android device directly.
+The OnBot Java Development Tool is an integrated development environment (IDE) that is served up by the Robot Controller.  OpModes are created and edited using a Javascript-enabled browser (Google Chromse is recommended).  OpModes are saved on the Robot Controller Android device directly.
 
 The OnBot Java Development Tool provides a Java programming environment that does NOT need Android Studio.
 
@@ -782,7 +1064,7 @@ Changes with version 3.2 include:
     - Fixed tooltip for ColorSensor.isLightOn block.
     Added blocks for ColorSensor.getNormalizedColors and LynxI2cColorRangeSensor.getNormalizedColors.
 
-* Added example op modes for digital touch sensor and REV Robotics Color Distance sensor.
+* Added example OpModes for digital touch sensor and REV Robotics Color Distance sensor.
 * User selectable color themes.
 * Includes many minor enhancements and fixes (too numerous to list).
 
@@ -807,7 +1089,7 @@ Changes include:
     - Added VuforiaTrackableDefaultListener.getPose and Vuforia.trackPose blocks.
     - Added optimized blocks support for Vuforia extended tracking.
     - Added atan2 block to the math category.
-    - Added useCompetitionFieldTargetLocations parameter to Vuforia.initialize block.  If set to false, the target locations are placed at (0,0,0) with target orientation as specified in https://github.com/gearsincorg/FTCVuforiaDemo/blob/master/Robot_Navigation.java tutorial op mode.
+    - Added useCompetitionFieldTargetLocations parameter to Vuforia.initialize block.  If set to false, the target locations are placed at (0,0,0) with target orientation as specified in https://github.com/gearsincorg/FTCVuforiaDemo/blob/master/Robot_Navigation.java tutorial OpMode.
  * Incorporates additional improvements to USB comm layer to improve system resiliency (to recover from a greater number of communication disruptions).
 
 **************************************************************************************
@@ -817,7 +1099,7 @@ Additional Notes Regarding Version 3.00 (built on 17.04.13)
 In addition to the release changes listed below (see section labeled "Version 3.00 (built on 17.04.013)"), version 3.00 has the following important changes:
 
 1. Version 3.00 software uses a new version of the FTC Robocol (robot protocol).  If you upgrade to v3.0 on the Robot Controller and/or Android Studio side, you must also upgrade the Driver Station software to match the new Robocol.
-2. Version 3.00 software removes the setMaxSpeed and getMaxSpeed methods from the DcMotor class.  If you have an op mode that formerly used these methods, you will need to remove the references/calls to these methods.  Instead, v3.0 provides the max speed information through the use of motor profiles that are selected by the user during robot configuration.
+2. Version 3.00 software removes the setMaxSpeed and getMaxSpeed methods from the DcMotor class.  If you have an OpMode that formerly used these methods, you will need to remove the references/calls to these methods.  Instead, v3.0 provides the max speed information through the use of motor profiles that are selected by the user during robot configuration.
 3. Version 3.00 software currently does not have a mechanism to disable extra i2c sensors.  We hope to re-introduce this function with a release in the near future.
 
 **************************************************************************************
@@ -845,7 +1127,7 @@ Changes include:
     - Addition of optimized Vuforia blocks.
     - Auto scrollbar to projects and sounds pages.
     - Fixed blocks paste bug.
-    - Blocks execute after while-opModeIsActive loop (to allow for cleanup before exiting op mode).
+    - Blocks execute after while-opModeIsActive loop (to allow for cleanup before exiting OpMode).
     - Added gyro integratedZValue block.
     - Fixes bug with projects page for Firefox browser.
     - Added IsSpeaking block to AndroidTextToSpeech.
@@ -939,8 +1221,8 @@ Changes include:
      - Updated to latest blockly.
      - Added default variable blocks to navigation and matrix blocks.
      - Fixed toolbox entry for openGLMatrix_rotation_withAxesArgs.
-     - When user downloads Blocks-generated op mode, only the .blk file is downloaded.
-     - When user uploads Blocks-generated op mode (.blk file), Javascript code is auto generated.
+     - When user downloads Blocks-generated OpMode, only the .blk file is downloaded.
+     - When user uploads Blocks-generated OpMode (.blk file), Javascript code is auto generated.
      - Added DbgLog support.
      - Added logging when a blocks file is read/written.
      - Fixed bug to properly render blocks even if missing devices from configuration file.
@@ -960,7 +1242,7 @@ Changes include:
 
 ## Version 2.30 (released on 16.10.05)
   * Blockly programming mode:
-     - Mechanism added to save Blockly op modes from Programming Mode Server onto local device
+     - Mechanism added to save Blockly OpModes from Programming Mode Server onto local device
      - To avoid clutter, blocks are displayed in categorized folders
      - Added support for DigitalChannel
      - Added support for ModernRoboticsI2cCompassSensor
@@ -973,12 +1255,12 @@ Changes include:
      - Fix deadlock / make camera data available while Vuforia is running.
      - Update to Vuforia 6.0.117 (recommended by Vuforia and Google to close security loophole).
   * Fix for autonomous 30 second timer bug (where timer was in effect, even though it appeared to have timed out).
-  * opModeIsActive changes to allow cleanup after op mode is stopped (with enforced 2 second safety timeout).
+  * opModeIsActive changes to allow cleanup after OpMode is stopped (with enforced 2 second safety timeout).
   * Fix to avoid reading i2c twice.
   * Updated sample OpModes.
   * Improved logging and fixed intermittent freezing.
   * Added digital I/O sample.
-  * Cleaned up device names in sample op modes to be consistent with Pushbot guide.
+  * Cleaned up device names in sample OpModes to be consistent with Pushbot guide.
   * Fix to allow use of IrSeekerSensorV3.
 
 ## Version 2.20 (released on 16.09.08)
@@ -1040,7 +1322,7 @@ Changes include:
  * Improvements made to fix resiliency and responsiveness of the system.
  * For LinearOpMode the user now must for a telemetry.update() to update the telemetry data on the driver station.  This update() mechanism ensures that the driver station gets the updated data properly and at the same time.
  * The Auto Configure function of the Robot Controller is now template based.  If there is a commonly used robot configuration, a template can be created so that the Auto Configure mechanism can be used to quickly configure a robot of this type.
- * The logic to detect a runaway op mode (both in the LinearOpMode and OpMode types) and to abort the run, then auto recover has been improved/implemented.
+ * The logic to detect a runaway OpMode (both in the LinearOpMode and OpMode types) and to abort the run, then auto recover has been improved/implemented.
  * Fix has been incorporated so that Logitech F310 gamepad mappings will be correct for Marshmallow users.
 
 ## Release 16.07.08
@@ -1069,9 +1351,9 @@ Changes include:
  * Firmware version information for Modern Robotics modules are now logged.
  * Changes made to improve USB comm reliability and robustness.
  * Added support for voltage indicator for legacy (NXT-compatible) motor controllers.
- * Changes made to provide auto stop capabilities for op modes.
+ * Changes made to provide auto stop capabilities for OpModes.
     - A LinearOpMode class will stop when the statements in runOpMode() are complete.  User does not have to push the stop button on the driver station.
-    - If an op mode is stopped by the driver station, but there is a run away/uninterruptible thread persisting, the app will log an error message then force itself to crash to stop the runaway thread.
+    - If an OpMode is stopped by the driver station, but there is a run away/uninterruptible thread persisting, the app will log an error message then force itself to crash to stop the runaway thread.
  * Driver Station UI modified to display lowest measured voltage below current voltage (12V battery).
  * Driver Station UI modified to have color background for current voltage (green=good, yellow=caution, red=danger, extremely low voltage).
  * javadoc improved (edits and additional classes).
@@ -1091,11 +1373,11 @@ Changes include:
  * Improved battery checker feature so that voltage values get refreshed regularly (every 250 msec) on Driver Station (DS) user interface.
  * Improved software so that Robot Controller (RC) is much more resilient and “self-healing” to USB disconnects:
     - If user attempts to start/restart RC with one or more module missing, it will display a warning but still start up.
-    - When running an op mode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s).
+    - When running an OpMode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s).
     - If a disconnected module gets physically reconnected the RC will auto detect the module and the user will regain control of the recently connected module.
     - Warning messages are more helpful (identifies the type of module that’s missing plus its USB serial number).
- * Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their op mode.
- * NXT light sensor output is now properly scaled.  Note that teams might have to readjust their light threshold values in their op modes.
+ * Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their OpMode.
+ * NXT light sensor output is now properly scaled.  Note that teams might have to readjust their light threshold values in their OpModes.
  * On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver.
  * Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps.
  * Incorporated a display filter on pairing screen to filter out devices that don’t use the “<TEAM NUMBER>-“ format. This filter can be turned off to show all Wi-Fi Direct devices.
@@ -1117,7 +1399,7 @@ Changes include:
  * Fix for Telemetry also has off-by-one errors in its data string sizing / short size limitations error
  * User telemetry output is sorted.
  * added formatting variants to DbgLog and RobotLog APIs
- * code modified to allow for a long list of op mode names.
+ * code modified to allow for a long list of OpMode names.
  * changes to improve thread safety of RobocolDatagramSocket
  * Fix for "missing hardware leaves robot controller disconnected from driver station" error
  * fix for "fast tapping of Init/Start causes problems" (toast is now only instantiated on UI thread).
@@ -1144,12 +1426,12 @@ Changes include:
   - The GyroSensor class now supports the MR Gyro Sensor.
   - Users can access heading data (about Z axis)
   - Users can also access raw gyro data (X, Y, & Z axes).
-  - Example MRGyroTest.java op mode included.
+  - Example MRGyroTest.java OpMode included.
  * Improved error messages
   - More descriptive error messages for exceptions in user code.
  * Updated DcMotor API
  * Enable read mode on new address in setI2cAddress
- * Fix so that driver station app resets the gamepads when switching op modes.
+ * Fix so that driver station app resets the gamepads when switching OpModes.
  * USB-related code changes to make USB comm more responsive and to display more explicit error messages.
   - Fix so that USB will recover properly if the USB bus returns garbage data.
   - Fix USB initializtion race condition.
@@ -1164,13 +1446,13 @@ Changes include:
  * Updated HT color sensor driver to use constants from ModernRoboticsUsbLegacyModule class.
  * Updated MR color sensor driver to use constants from ModernRoboticsUsbDeviceInterfaceModule class.
  * Correctly handle I2C Address change in all color sensors
- * Updated/cleaned up op modes.
-  - Updated comments in LinearI2cAddressChange.java example op mode.
+ * Updated/cleaned up OpModes.
+  - Updated comments in LinearI2cAddressChange.java example OpMode.
   - Replaced the calls to "setChannelMode" with "setMode" (to match the new of the DcMotor  method).
-  - Removed K9AutoTime.java op mode.
-  - Added MRGyroTest.java op mode (demonstrates how to use MR Gyro Sensor).
-  - Added MRRGBExample.java op mode (demonstrates how to use MR Color Sensor).
-  - Added HTRGBExample.java op mode (demonstrates how to use HT legacy color sensor).
+  - Removed K9AutoTime.java OpMode.
+  - Added MRGyroTest.java OpMode (demonstrates how to use MR Gyro Sensor).
+  - Added MRRGBExample.java OpMode (demonstrates how to use MR Color Sensor).
+  - Added HTRGBExample.java OpMode (demonstrates how to use HT legacy color sensor).
   - Added MatrixControllerDemo.java (demonstrates how to use legacy Matrix controller).
  * Updated javadoc documentation.
  * Updated release .apk files for Robot Controller and Driver Station apps.
@@ -1189,11 +1471,11 @@ Changes include:
  * An init() method is added to the OpMode class.
    - For this release, init() is triggered right before the start() method.
    - Eventually, the init() method will be triggered when the user presses an "INIT" button on driver station.
-   - The init() and loop() methods are now required (i.e., need to be overridden in the user's op mode).
+   - The init() and loop() methods are now required (i.e., need to be overridden in the user's OpMode).
    - The start() and stop() methods are optional.
  * A new LinearOpMode class is introduced.
    - Teams can use the LinearOpMode mode to create a linear (not event driven) program model.
-   - Teams can use blocking statements like Thread.sleep() within a linear op mode.
+   - Teams can use blocking statements like Thread.sleep() within a linear OpMode.
  * The API for the Legacy Module and Core Device Interface Module have been updated.
    - Support for encoders with the Legacy Module is now working.
  * The hardware loop has been updated for better performance.

TeamCode/build.gradle

@@ -17,9 +17,23 @@ apply from: '../build.dependencies.gradle'
 
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
+
+    packagingOptions {
+        jniLibs.useLegacyPackaging true
+    }
+}
+
+repositories {
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
+    implementation "com.acmerobotics.roadrunner:core:1.0.0-beta8"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0-beta8"
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsCameraDemo.java

@@ -0,0 +1,78 @@
+package org.firstinspires.ftc.teamcode;
+
+import android.util.Size;
+
+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;
+
+@TeleOp(name = "CometBots Camera Demo (HDMI)", group = "[14493] CometBots")
+public class CometBotsCameraDemo extends LinearOpMode {
+
+    final boolean USING_WEBCAM = true;
+    final BuiltinCameraDirection INTERNAL_CAM_DIR = BuiltinCameraDirection.FRONT;
+    final int RESOLUTION_WIDTH = 640;
+    final int RESOLUTION_HEIGHT = 480;
+
+    // Internal state
+    boolean lastX;
+    int frameCount;
+    long capReqTime;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        telemetry.speak("Development - Camera Test");
+
+        VisionPortal portal;
+
+        if (USING_WEBCAM)
+        {
+            portal = new VisionPortal.Builder()
+                    .setCamera(hardwareMap.get(WebcamName.class, "watch out"))
+                    .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();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsIMUDemo.java

@@ -0,0 +1,72 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+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;
+
+@TeleOp(name = "CometBots IMU Demo", group = "[14493] CometBots")
+public class CometBotsIMUDemo extends LinearOpMode {
+
+    IMU imu;
+
+    @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();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsLinearOpMode.java

@@ -0,0 +1,189 @@
+/* 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.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
+
+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.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+
+/*
+ * 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="CometBots Linear OpMode Demo", group = "[14493] CometBots")
+public class CometBotsLinearOpMode extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor rhw = null;
+    private DcMotor rlw = null;
+    private DcMotor lhw = null;
+    private DcMotor llw = null;
+
+    @Override
+    public void runOpMode() {
+
+        // Button A counter to cycle speeds
+        int cntBtnA = 1;
+
+        // 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.
+        rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
+        rlw = hardwareMap.get(DcMotor.class, RT_BACK);
+        lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
+        llw = hardwareMap.get(DcMotor.class, LT_BACK);
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rhw, rlw, lhw, llw};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        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 lftFrntPwr  = axial + lateral + yaw;
+            double rtFrntPwr = axial - lateral - yaw;
+            double ltBckPwr   = axial - lateral + yaw;
+            double rtBckPwr  = 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(lftFrntPwr), Math.abs(rtFrntPwr));
+            max = Math.max(max, Math.abs(ltBckPwr));
+            max = Math.max(max, Math.abs(rtBckPwr));
+
+            if (max > 1.0) {
+                lftFrntPwr  /= max;
+                rtFrntPwr /= max;
+                ltBckPwr   /= max;
+                rtBckPwr  /= 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.
+
+            /*
+            lftFrntPwr  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            ltBckPwr   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rtFrntPwr = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rtBckPwr  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            */
+
+            lhw.setPower(lftFrntPwr/cntBtnA);
+            rhw.setPower(rtFrntPwr/cntBtnA);
+            llw.setPower(ltBckPwr/cntBtnA);
+            rlw.setPower(rtBckPwr/cntBtnA);
+
+            // Send calculated power to wheels
+            if(gamepad1.left_bumper) {
+                sleep(175);
+                cntBtnA--;
+                if(cntBtnA < 0) {
+                    cntBtnA = 0;
+                }
+            }
+
+            if(gamepad1.right_bumper) {
+                sleep(175);
+                cntBtnA++;
+                if(cntBtnA > 4) {
+                    cntBtnA = 4;
+                }
+            }
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Front left/Right", "%4.2f, %4.2f", lftFrntPwr, rtFrntPwr);
+            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", ltBckPwr, rtBckPwr);
+            telemetry.addData("Power Mode", cntBtnA);
+            telemetry.update();
+        }
+    }}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsMecanumDriveMode.java

@@ -0,0 +1,132 @@
+/* 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.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_BACK;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.LT_FRONT;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_BACK;
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.RT_FRONT;
+
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.Vector2d;
+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;
+
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+
+/*
+ * 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="CometBots Mecanum Drive Demo", group = "[14493] CometBots")
+public class CometBotsMecanumDriveMode extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor rhw = null;
+    private DcMotor rlw = null;
+    private DcMotor lhw = null;
+    private DcMotor llw = null;
+
+    @Override
+    public void runOpMode() {
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,Math.toRadians(90)));
+
+        // Button A counter to cycle speeds
+        int cntBtnA = 1;
+
+        // 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.
+        rhw = hardwareMap.get(DcMotor.class, RT_FRONT);
+        rlw = hardwareMap.get(DcMotor.class, RT_BACK);
+        lhw = hardwareMap.get(DcMotor.class, LT_FRONT);
+        llw = hardwareMap.get(DcMotor.class, LT_BACK);
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rhw, rlw, lhw, llw};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            drive.setDrivePowers(
+                new PoseVelocity2d(
+                    new Vector2d(
+                        gamepad1.right_stick_x,
+                        gamepad1.right_stick_y
+                    ),
+                -gamepad1.right_stick_x
+                )
+            );
+            drive.updatePoseEstimate();
+        }
+    }}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsOpenCVDemo.java

@@ -0,0 +1,46 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.openftc.easyopencv.OpenCvCamera;
+import org.openftc.easyopencv.OpenCvCameraFactory;
+import org.openftc.easyopencv.OpenCvCameraRotation;
+
+@Disabled
+@Autonomous(name="DevApp - OpenCV Demo", group="[14493] CometBots")
+public class CometBotsOpenCVDemo extends LinearOpMode {
+
+    private OpenCvCamera controlHubCam;  // Use OpenCvCamera class from FTC SDK
+    private static final int CAMERA_WIDTH = 1280; // width  of wanted camera resolution
+    private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
+
+    // Calculate the distance using the formula
+    public static final double objectWidthInRealWorldUnits = 3.75;  // Replace with the actual width of the object in real-world units
+    public static final double focalLength = 728;  // Replace with the focal length of the camera in pixels
+
+    private void initOpenCV() {
+
+        // Create an instance of the camera
+        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
+                "cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
+
+        // Use OpenCvCameraFactory class from FTC SDK to create camera instance
+        controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
+                hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
+
+//        controlHubCam.setPipeline(new YellowBlobDetectionPipeline());
+
+        controlHubCam.openCameraDevice();
+        controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsProject.java

@@ -0,0 +1,100 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
+
+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.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.hardware.TouchSensor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+
+@Disabled
+@Autonomous(name = "Development Class", group = "[14493] CometBots")
+public class CometBotsProject extends LinearOpMode {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        DcMotor rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
+        DcMotor rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
+        DcMotor lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
+        DcMotor llw = hardwareMap.get(DcMotor.class, "left leg wheel");
+        TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
+        DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
+        ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important
+            especially when dealing with functions that
+            set direction
+         */
+        DcMotor[] motors = {rhw, rlw, lhw, llw};
+
+        /*
+            Initialize all wheels forward using motors array
+         */
+//        MovementLibrary.setDirectionForward(motors);
+        MovementLibrary.setLeftSideBackward(motors);
+        MovementLibrary.setRightSideForward(motors);
+
+        /*
+            Capture color readout from color sensor
+        */
+        telemetry.addData("Color Sensor [Red]", colorSensor.red());
+        telemetry.addData("Color Sensor [Green]", colorSensor.green());
+        telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
+        telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
+
+        /*
+            Capture distance readout from distance sensor
+         */
+        telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
+
+        /*
+            Capture state when touch sensor is pressed
+        */
+        if (touchSensor.isPressed()) {
+            telemetry.speak("Touch sensor is pressed");
+            telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
+        }
+
+        telemetry.update();
+
+        /*
+            Wait for the driver to hit START in the driver hub
+         */
+        waitForStart();
+
+        while (opModeIsActive()) {
+
+            /*
+                Initialize wheel direction with base speed
+            */
+            MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
+
+
+            /*
+                Distance traveled in inches
+             */
+            double distanceInInches = distanceSensor.getDistance(DistanceUnit.INCH);
+            telemetry.addData("Distance traveled (inches)", "%.2f", distanceInInches);
+
+            /*
+                Speed up when going over an object that is blue-ish / green
+             */
+            if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
+                telemetry.speak("Green speed boost");
+                MovementLibrary.setSpeed(motors, CB_BASE_SPEED * 2.0);
+            } else {
+                MovementLibrary.setSpeed(motors, CB_BASE_SPEED);
+            }
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsSensorDemo.java

@@ -0,0 +1,111 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.hardware.TouchSensor;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+import org.openftc.easyopencv.OpenCvCamera;
+import org.openftc.easyopencv.OpenCvCameraFactory;
+import org.openftc.easyopencv.OpenCvCameraRotation;
+
+@Autonomous(name = "CometBot Sensor Demo", group = "[14493] CometBots")
+public class CometBotsSensorDemo extends LinearOpMode {
+
+    private OpenCvCamera controlHubCam;  // Use OpenCvCamera class from FTC SDK
+    private static final int CAMERA_WIDTH = 1280; // width  of wanted camera resolution
+    private static final int CAMERA_HEIGHT = 720; // height of wanted camera resolution
+
+    // Calculate the distance using the formula
+    public static final double objectWidthInRealWorldUnits = 3.75;  // Replace with the actual width of the object in real-world units
+    public static final double focalLength = 728;  // Replace with the focal length of the camera in pixels
+
+    private DcMotor rhw = null;
+    private DcMotor rlw = null;
+    private DcMotor lhw = null;
+    private DcMotor llw = null;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        // 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.
+        rhw = hardwareMap.get(DcMotor.class, "right hand wheel");
+        rlw = hardwareMap.get(DcMotor.class, "right leg wheel");
+        lhw = hardwareMap.get(DcMotor.class, "left hand wheel");
+        llw = hardwareMap.get(DcMotor.class, "left leg wheel");
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rhw, rlw, lhw, llw};
+
+        // Create an instance of the camera
+        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
+                "cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
+
+        // Use OpenCvCameraFactory class from FTC SDK to create camera instance
+        controlHubCam = OpenCvCameraFactory.getInstance().createWebcam(
+                hardwareMap.get(WebcamName.class, "watch out"), cameraMonitorViewId);
+
+        TouchSensor touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
+        DistanceSensor distanceSensor = hardwareMap.get(DistanceSensor.class, "distancesensor");
+        ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
+
+        controlHubCam.openCameraDevice();
+        controlHubCam.startStreaming(CAMERA_WIDTH, CAMERA_HEIGHT, OpenCvCameraRotation.UPRIGHT);
+
+        FtcDashboard.getInstance().startCameraStream(controlHubCam, 0);
+
+        /*
+            Wait for the driver to hit START in the driver hub
+         */
+        waitForStart();
+
+        while (opModeIsActive()) {
+
+            /*
+                Capture color readout from color sensor
+            */
+            telemetry.addData("Color Sensor [Red]", colorSensor.red());
+            telemetry.addData("Color Sensor [Green]", colorSensor.green());
+            telemetry.addData("Color Sensor [Blue]", colorSensor.blue());
+            telemetry.addData("Color Sensor [Alpha]", colorSensor.alpha());
+
+            /*
+                Capture distance readout from distance sensor
+            */
+            telemetry.addData("Distance Sensor [inches]", distanceSensor.getDistance(DistanceUnit.INCH));
+
+            /*
+                Capture state when touch sensor is pressed
+            */
+            telemetry.addData("Touch sensor pressed?", touchSensor.isPressed());
+            if (touchSensor.isPressed()) {
+                telemetry.speak("Touch sensor is pressed");
+            }
+
+            if (distanceSensor.getDistance(DistanceUnit.INCH) < 3) {
+                telemetry.speak("Warning, unknown object near robot");
+                MovementLibrary.setDirectionRight(motors);
+                MovementLibrary.setSpeed(motors,0.25);
+                sleep(1500);
+                MovementLibrary.setSpeed(motors,0);
+            }
+
+            /*
+                Update stats continually
+             */
+            telemetry.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotsTensorFlowDemo.java

@@ -0,0 +1,141 @@
+/* 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.teamcode;
+
+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 = "CometBots TensorFlow Demo (HDMI)", group = "[14493] CometBots")
+public class CometBotsTensorFlowDemo 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, "watch out"), 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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Drawing.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.Vector2d;
+
+public final class Drawing {
+    private Drawing() {}
+
+
+    public static void drawRobot(Canvas c, Pose2d t) {
+        final double ROBOT_RADIUS = 9;
+
+        c.setStrokeWidth(1);
+        c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
+
+        Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
+        Vector2d p1 = t.position.plus(halfv);
+        Vector2d p2 = p1.plus(halfv);
+        c.strokeLine(p1.x, p1.y, p2.x, p2.y);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java

@@ -0,0 +1,8 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.roadrunner.Time;
+import com.acmerobotics.roadrunner.Twist2dDual;
+
+public interface Localizer {
+    Twist2dDual<Time> update();
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

@@ -0,0 +1,502 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.cometbots.Constants.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.*;
+        import com.acmerobotics.roadrunner.AngularVelConstraint;
+import com.acmerobotics.roadrunner.DualNum;
+import com.acmerobotics.roadrunner.HolonomicController;
+import com.acmerobotics.roadrunner.MecanumKinematics;
+import com.acmerobotics.roadrunner.MinVelConstraint;
+import com.acmerobotics.roadrunner.MotorFeedforward;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.Time;
+import com.acmerobotics.roadrunner.TimeTrajectory;
+import com.acmerobotics.roadrunner.TimeTurn;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.VelConstraint;
+import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.LazyImu;
+import com.acmerobotics.roadrunner.ftc.LynxFirmware;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.teamcode.cometbots.MovementLibrary;
+import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
+import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
+import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
+import org.firstinspires.ftc.teamcode.messages.PoseMessage;
+
+import java.lang.Math;
+import java.util.Arrays;
+import java.util.LinkedList;
+import java.util.List;
+
+@Config
+public final class MecanumDrive {
+    public static class Params {
+        // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
+        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
+                RevHubOrientationOnRobot.LogoFacingDirection.FORWARD;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.UP;
+
+        // drive model parameters
+        public double inPerTick = 119/5924.5;
+        public double lateralInPerTick = 124/6930.5;
+        public double trackWidthTicks = 1131;
+
+        // feedforward parameters (in tick units)
+        public double kS = 0.7476;
+        public double kV = 0.0043736;
+        public double kA = 00055;
+
+        // path profile parameters (in inches)
+        public double maxWheelVel = 50;
+        public double minProfileAccel = -30;
+        public double maxProfileAccel = 50;
+
+        // turn profile parameters (in radians)
+        public double maxAngVel = Math.PI; // shared with path
+        public double maxAngAccel = Math.PI;
+
+        // path controller gains
+        public double axialGain = 4.125;
+        public double lateralGain = 4.125;
+        public double headingGain = 4.25; // shared with turn
+
+        public double axialVelGain = 0.0;
+        public double lateralVelGain = 0.0;
+        public double headingVelGain = 0.0; // shared with turn
+    }
+
+    public static Params PARAMS = new Params();
+
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+
+    public final VoltageSensor voltageSensor;
+
+    public final LazyImu lazyImu;
+
+    public final Localizer localizer;
+    public Pose2d pose;
+
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+
+    public class DriveLocalizer implements Localizer {
+        public final Encoder leftFront, leftBack, rightBack, rightFront;
+        public final IMU imu;
+
+        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
+        private Rotation2d lastHeading;
+        private boolean initialized;
+
+        public DriveLocalizer() {
+            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
+            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
+            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
+            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
+
+            imu = lazyImu.get();
+
+            // TODO: reverse encoders if needed
+            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        }
+
+        @Override
+        public Twist2dDual<Time> update() {
+            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
+            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
+            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
+            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
+
+            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
+
+            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
+                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
+
+            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftFrontPos = leftFrontPosVel.position;
+                lastLeftBackPos = leftBackPosVel.position;
+                lastRightBackPos = rightBackPosVel.position;
+                lastRightFrontPos = rightFrontPosVel.position;
+
+                lastHeading = heading;
+
+                return new Twist2dDual<>(
+                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                        DualNum.constant(0.0, 2)
+                );
+            }
+
+            double headingDelta = heading.minus(lastHeading);
+            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
+                    new DualNum<Time>(new double[]{
+                            (leftFrontPosVel.position - lastLeftFrontPos),
+                            leftFrontPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (leftBackPosVel.position - lastLeftBackPos),
+                            leftBackPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightBackPosVel.position - lastRightBackPos),
+                            rightBackPosVel.velocity,
+                    }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightFrontPosVel.position - lastRightFrontPos),
+                            rightFrontPosVel.velocity,
+                    }).times(PARAMS.inPerTick)
+            ));
+
+            lastLeftFrontPos = leftFrontPosVel.position;
+            lastLeftBackPos = leftBackPosVel.position;
+            lastRightBackPos = rightBackPosVel.position;
+            lastRightFrontPos = rightFrontPosVel.position;
+
+            lastHeading = heading;
+
+            return new Twist2dDual<>(
+                    twist.line,
+                    DualNum.cons(headingDelta, twist.angle.drop(1))
+            );
+        }
+    }
+
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        this.pose = pose;
+
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, LT_FRONT);
+        leftBack = hardwareMap.get(DcMotorEx.class, LT_BACK);
+        rightBack = hardwareMap.get(DcMotorEx.class, RT_BACK);
+        rightFront = hardwareMap.get(DcMotorEx.class, RT_FRONT);
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        /*
+            Put all motors in an array for easier handling
+
+            NOTE: Placement of motor in array is important especially when dealing with functions
+            that set direction
+        */
+        DcMotor[] motors = {rightFront, rightBack, leftFront, leftBack};
+
+        /*
+            Initialize all wheels forward using motors a
+        */
+        MovementLibrary.setDirectionForward(motors);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new DriveLocalizer();
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public final class FollowTrajectoryAction implements Action {
+        public final TimeTrajectory timeTrajectory;
+        private double beginTs = -1;
+
+        private final double[] xPoints, yPoints;
+
+        public FollowTrajectoryAction(TimeTrajectory t) {
+            timeTrajectory = t;
+
+            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
+                    0, t.path.length(),
+                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
+            xPoints = new double[disps.size()];
+            yPoints = new double[disps.size()];
+            for (int i = 0; i < disps.size(); i++) {
+                Pose2d p = t.path.get(disps.get(i), 1).value();
+                xPoints[i] = p.position.x;
+                yPoints[i] = p.position.y;
+            }
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket p) {
+            double t;
+            if (beginTs < 0) {
+                beginTs = Actions.now();
+                t = 0;
+            } else {
+                t = Actions.now() - beginTs;
+            }
+
+            if (t >= timeTrajectory.duration) {
+                leftFront.setPower(0);
+                leftBack.setPower(0);
+                rightBack.setPower(0);
+                rightFront.setPower(0);
+
+                return false;
+            }
+
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            PoseVelocity2dDual<Time> command = new HolonomicController(
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
+            )
+                    .compute(txWorldTarget, pose, robotVelRobot);
+            driveCommandWriter.write(new DriveCommandMessage(command));
+
+            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
+            double voltage = voltageSensor.getVoltage();
+
+            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
+                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
+            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
+            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
+            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
+            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
+            mecanumCommandWriter.write(new MecanumCommandMessage(
+                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
+            ));
+
+            leftFront.setPower(leftFrontPower);
+            leftBack.setPower(leftBackPower);
+            rightBack.setPower(rightBackPower);
+            rightFront.setPower(rightFrontPower);
+
+            p.put("x", pose.position.x);
+            p.put("y", pose.position.y);
+            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
+
+            Pose2d error = txWorldTarget.value().minusExp(pose);
+            p.put("xError", error.position.x);
+            p.put("yError", error.position.y);
+            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
+
+            // only draw when active; only one drive action should be active at a time
+            Canvas c = p.fieldOverlay();
+            drawPoseHistory(c);
+
+            c.setStroke("#4CAF50");
+            Drawing.drawRobot(c, txWorldTarget.value());
+
+            c.setStroke("#3F51B5");
+            Drawing.drawRobot(c, pose);
+
+            c.setStroke("#4CAF50FF");
+            c.setStrokeWidth(1);
+            c.strokePolyline(xPoints, yPoints);
+
+            return true;
+        }
+
+        @Override
+        public void preview(Canvas c) {
+            c.setStroke("#4CAF507A");
+            c.setStrokeWidth(1);
+            c.strokePolyline(xPoints, yPoints);
+        }
+    }
+
+    public final class TurnAction implements Action {
+        private final TimeTurn turn;
+
+        private double beginTs = -1;
+
+        public TurnAction(TimeTurn turn) {
+            this.turn = turn;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket p) {
+            double t;
+            if (beginTs < 0) {
+                beginTs = Actions.now();
+                t = 0;
+            } else {
+                t = Actions.now() - beginTs;
+            }
+
+            if (t >= turn.duration) {
+                leftFront.setPower(0);
+                leftBack.setPower(0);
+                rightBack.setPower(0);
+                rightFront.setPower(0);
+
+                return false;
+            }
+
+            Pose2dDual<Time> txWorldTarget = turn.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            PoseVelocity2dDual<Time> command = new HolonomicController(
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
+            )
+                    .compute(txWorldTarget, pose, robotVelRobot);
+            driveCommandWriter.write(new DriveCommandMessage(command));
+
+            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
+            double voltage = voltageSensor.getVoltage();
+            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
+                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
+            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
+            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
+            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
+            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
+            mecanumCommandWriter.write(new MecanumCommandMessage(
+                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
+            ));
+
+            leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
+            leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
+            rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
+            rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
+
+            Canvas c = p.fieldOverlay();
+            drawPoseHistory(c);
+
+            c.setStroke("#4CAF50");
+            Drawing.drawRobot(c, txWorldTarget.value());
+
+            c.setStroke("#3F51B5");
+            Drawing.drawRobot(c, pose);
+
+            c.setStroke("#7C4DFFFF");
+            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
+
+            return true;
+        }
+
+        @Override
+        public void preview(Canvas c) {
+            c.setStroke("#7C4DFF7A");
+            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
+        }
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        Twist2dDual<Time> twist = localizer.update();
+        pose = pose.plus(twist.value());
+
+        poseHistory.add(pose);
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(pose));
+
+        return twist.velocity().value();
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/Constants.java

@@ -0,0 +1,12 @@
+package org.firstinspires.ftc.teamcode.cometbots;
+
+public class Constants {
+
+    public static double CB_BASE_SPEED = 0.2;
+
+    public static String RT_FRONT = "right hand wheel";
+    public static String LT_FRONT = "left hand wheel";
+    public static String RT_BACK = "right leg wheel";
+    public static String LT_BACK = "left leg wheel";
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/MovementLibrary.java

@@ -0,0 +1,58 @@
+package org.firstinspires.ftc.teamcode.cometbots;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+public class MovementLibrary {
+
+    public static void setDirectionForward(DcMotor[] motors) {
+        setLeftSideForward(motors);
+        setRightSideForward(motors);
+    }
+
+    public static void setLeftSideForward(DcMotor[] motors) {
+        motors[2].setDirection(DcMotor.Direction.FORWARD);
+        motors[3].setDirection(DcMotor.Direction.FORWARD);
+    }
+
+    public static void setRightSideForward(DcMotor[] motors) {
+        motors[0].setDirection(DcMotor.Direction.FORWARD);
+        motors[1].setDirection(DcMotor.Direction.FORWARD);
+    }
+
+    public static void setLeftSideBackward(DcMotor[] motors) {
+        motors[2].setDirection(DcMotor.Direction.REVERSE);
+        motors[3].setDirection(DcMotor.Direction.REVERSE);
+    }
+
+    public static void setRightSideBackward(DcMotor[] motors) {
+        motors[0].setDirection(DcMotor.Direction.REVERSE);
+        motors[1].setDirection(DcMotor.Direction.REVERSE);
+    }
+
+
+    public static void setDirectionBackward(DcMotor[] motors) {
+        setLeftSideBackward(motors);
+        setRightSideBackward(motors);
+    }
+
+    public static void setSpeed(DcMotor[] motors, double speedValue) {
+        for (DcMotor motor : motors) {
+            motor.setPower(speedValue);
+        }
+    }
+
+    public static void setDirectionLeft(DcMotor[] motors) {
+        motors[0].setDirection(DcMotor.Direction.REVERSE);
+        motors[1].setDirection(DcMotor.Direction.REVERSE);
+        motors[2].setDirection(DcMotor.Direction.FORWARD);
+        motors[3].setDirection(DcMotor.Direction.FORWARD);
+    }
+
+    public static void setDirectionRight(DcMotor[] motors) {
+        motors[0].setDirection(DcMotor.Direction.FORWARD);
+        motors[1].setDirection(DcMotor.Direction.FORWARD);
+        motors[2].setDirection(DcMotor.Direction.REVERSE);
+        motors[3].setDirection(DcMotor.Direction.REVERSE);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java

@@ -0,0 +1,24 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
+import com.acmerobotics.roadrunner.Time;
+
+public final class DriveCommandMessage {
+    public long timestamp;
+    public double forwardVelocity;
+    public double forwardAcceleration;
+    public double lateralVelocity;
+    public double lateralAcceleration;
+    public double angularVelocity;
+    public double angularAcceleration;
+
+    public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
+        this.timestamp = System.nanoTime();
+        this.forwardVelocity = poseVelocity.linearVel.x.get(0);
+        this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
+        this.lateralVelocity = poseVelocity.linearVel.y.get(0);
+        this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
+        this.angularVelocity = poseVelocity.angVel.get(0);
+        this.angularAcceleration = poseVelocity.angVel.get(1);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java

@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+public final class MecanumCommandMessage {
+    public long timestamp;
+    public double voltage;
+    public double leftFrontPower;
+    public double leftBackPower;
+    public double rightBackPower;
+    public double rightFrontPower;
+
+    public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
+        this.timestamp = System.nanoTime();
+        this.voltage = voltage;
+        this.leftFrontPower = leftFrontPower;
+        this.leftBackPower = leftBackPower;
+        this.rightBackPower = rightBackPower;
+        this.rightFrontPower = rightFrontPower;
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java

@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+public final class MecanumLocalizerInputsMessage {
+    public long timestamp;
+    public PositionVelocityPair leftFront;
+    public PositionVelocityPair leftBack;
+    public PositionVelocityPair rightBack;
+    public PositionVelocityPair rightFront;
+    public double yaw;
+    public double pitch;
+    public double roll;
+
+    public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
+        this.timestamp = System.nanoTime();
+        this.leftFront = leftFront;
+        this.leftBack = leftBack;
+        this.rightBack = rightBack;
+        this.rightFront = rightFront;
+        {
+            this.yaw = angles.getYaw(AngleUnit.RADIANS);
+            this.pitch = angles.getPitch(AngleUnit.RADIANS);
+            this.roll = angles.getRoll(AngleUnit.RADIANS);
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java

@@ -0,0 +1,17 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.Pose2d;
+
+public final class PoseMessage {
+    public long timestamp;
+    public double x;
+    public double y;
+    public double heading;
+
+    public PoseMessage(Pose2d pose) {
+        this.timestamp = System.nanoTime();
+        this.x = pose.position.x;
+        this.y = pose.position.y;
+        this.heading = pose.heading.toDouble();
+    }
+}

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

@@ -0,0 +1,4 @@
+https://www.youtube.com/watch?v=aeMWWvteF2U
+
+https://www.youtube.com/watch?v=1xdo8QP6_mI
+

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

@@ -16,29 +16,39 @@ To locate these samples, find the FtcRobotController module in the "Project/Andr
 Expand the following tree elements:
  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

build.common.gradle

@@ -54,7 +54,7 @@ android {
     defaultConfig {
         signingConfig signingConfigs.debug
         applicationId 'com.qualcomm.ftcrobotcontroller'
-        minSdkVersion 23
+        minSdkVersion 24
         //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
 
@@ -87,7 +87,6 @@ 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 {
@@ -122,8 +121,5 @@ android {
 }
 
 repositories {
-    flatDir {
-        dirs rootProject.file('libs')
-    }
 }