Merge remote-tracking branch 'origin/Branch-Yixuan' into Branch-Yixuan

FtcRobotController v9.1

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="52"
-          android:versionName="9.0.1">
+    android:versionCode="53"
+          android:versionName="9.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -29,6 +29,7 @@
 
 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;

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

@@ -29,6 +29,7 @@
 
 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;

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

@@ -0,0 +1,78 @@
+/* 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
+ * 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.DigitalChannel;
+
+/*
+ * This OpMode demonstrates how to use a digital channel.
+ *
+ * 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.
+ */
+@TeleOp(name = "Sensor: digital channel", group = "Sensor")
+@Disabled
+public class SensorDigitalTouch extends LinearOpMode {
+    DigitalChannel digitalTouch;  // Digital channel Object
+
+    @Override
+    public void runOpMode() {
+
+        // get a reference to our touchSensor object.
+        digitalTouch = hardwareMap.get(DigitalChannel.class, "digitalTouch");
+
+        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 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 (digitalTouch.getState() == false) {
+                telemetry.addData("Button", "PRESSED");
+            } else {
+                telemetry.addData("Button", "NOT PRESSED");
+            }
+
+            telemetry.update();
+        }
+    }
+}

README.md

@@ -59,6 +59,45 @@ 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

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

@@ -0,0 +1,41 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+public class MovementLibrary {
+    public static void setDirectionForward(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+        rhw.setDirection(DcMotor.Direction.REVERSE);
+        rlw.setDirection(DcMotor.Direction.FORWARD);
+        lhw.setDirection(DcMotorSimple.Direction.FORWARD);
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);}
+
+    public static void setDirectionBackward(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+        rhw.setDirection(DcMotor.Direction.FORWARD);
+        rlw.setDirection(DcMotor.Direction.REVERSE);
+        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
+        llw.setDirection(DcMotorSimple.Direction.FORWARD);
+    }
+
+    public static void setSpeed (double speedValue,DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+        rhw.setPower(speedValue);
+        rlw.setPower(speedValue);
+        llw.setPower(speedValue);
+        lhw.setPower(speedValue);
+
+
+    }
+    public static void setDirectionRight(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+        rhw.setDirection(DcMotor.Direction.REVERSE);
+        rlw.setDirection(DcMotor.Direction.REVERSE);
+        lhw.setDirection(DcMotorSimple.Direction.FORWARD);
+        llw.setDirection(DcMotorSimple.Direction.FORWARD);
+
+    }
+    public static void setDirectionLeft(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+        rhw.setDirection(DcMotor.Direction.FORWARD);
+        rlw.setDirection(DcMotor.Direction.FORWARD);
+        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+}

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

@@ -0,0 +1,99 @@
+package org.firstinspires.ftc.teamcode;
+
+import static java.lang.Math.round;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.AnalogSensor;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.DistanceSensor;
+import com.qualcomm.robotcore.hardware.TouchSensor;
+import org.firstinspires.ftc.teamcode.MovementLibrary;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Autonomous(name="Name")
+public class Name extends LinearOpMode  {
+    private DcMotor rightHandWheel;
+    private DcMotor rightLegWheel;
+    private DcMotor leftHandWheel;
+    private DcMotor leftLegWheel;
+    private TouchSensor touchSensor;
+    private DistanceSensor distanceSensor;
+    private ColorSensor colorSensor;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
+        rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
+        leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
+        leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
+        touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
+        distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
+        colorSensor= hardwareMap.get(ColorSensor.class , "colorsensor");
+
+        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
+
+        MovementLibrary.setDirectionForward(rightHandWheel, rightLegWheel, leftHandWheel,leftLegWheel);
+
+        //from this
+        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
+
+        //thismotors
+        MovementLibrary.setDirectionForward(motors);
+
+        // Wait for the game to start (driver presses {Play
+        waitForStart();
+
+
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+
+        while(opModeIsActive()){
+
+       /* telemetry.speak( "Oh see, you see" +
+                "By the dusk's late light" +
+                "What so proudly we rained" +
+                "At the twilight's last gleaming?" +
+                "Whose broad stripes and dark stars" +
+                "Through the perilous fight" +
+                "Under the ramparts we watched" +
+                "Were so gallantly, no, streaming?" +
+                "And the rockets' red glare" +
+                "The bombs contracting in air" +
+                "Gave proof through the night" +
+                "That our flag was not there" +
+                "O say, that star-spangled banner doesn't wave" +
+                "Over the land of the enslaved and the home of the cowardly");*/
+
+            MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
+
+            if(touchSensor.isPressed()) {
+                telemetry.speak("Ouchie that hurt me and my feelings");
+                telemetry.addData("was i triggered", touchSensor.isPressed());
+            }
+
+            double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
+
+            telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
+            telemetry.addData("green color value",colorSensor.green());
+            telemetry.addData("blue color value" ,colorSensor.blue());
+            telemetry.update();
+
+            if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
+                MovementLibrary.setSpeed(0.4, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
+            }else {
+                MovementLibrary.setSpeed(0.2, rightHandWheel, rightLegWheel,leftHandWheel,leftLegWheel);
+            }
+        }
+
+    }
+
+}

build.dependencies.gradle

@@ -4,15 +4,15 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:9.0.1'
-    implementation 'org.firstinspires.ftc:Blocks:9.0.1'
-    implementation 'org.firstinspires.ftc:Tfod:9.0.1'
-    implementation 'org.firstinspires.ftc:RobotCore:9.0.1'
-    implementation 'org.firstinspires.ftc:RobotServer:9.0.1'
-    implementation 'org.firstinspires.ftc:OnBotJava:9.0.1'
-    implementation 'org.firstinspires.ftc:Hardware:9.0.1'
-    implementation 'org.firstinspires.ftc:FtcCommon:9.0.1'
-    implementation 'org.firstinspires.ftc:Vision:9.0.1'
+    implementation 'org.firstinspires.ftc:Inspection:9.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:9.1.0'
+    implementation 'org.firstinspires.ftc:Tfod:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotCore:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:9.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:9.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:9.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:9.1.0'
+    implementation 'org.firstinspires.ftc:Vision:9.1.0'
     implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0'
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
     runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'