Updated ftclib, trclib.

Added Gobilda LED indicator support.

TeamCode/src/main/java/teamcode/FtcTeleOp.java

@@ -225,9 +225,9 @@ public class FtcTeleOp extends FtcOpMode
             robot.globalTracer.traceInfo(moduleName, "driveOrientation=" + orientation);
             robot.robotDrive.driveBase.setDriveOrientation(
                 orientation, orientation == TrcDriveBase.DriveOrientation.FIELD);
-            if (robot.blinkin != null)
+            if (robot.ledIndicator != null)
             {
-                robot.blinkin.setDriveOrientation(orientation);
+                robot.ledIndicator.setDriveOrientation(orientation);
             }
         }
     }   //setDriveOrientation

TeamCode/src/main/java/teamcode/Robot.java

@@ -29,7 +29,7 @@ import ftclib.driverio.FtcDashboard;
 import ftclib.driverio.FtcMatchInfo;
 import ftclib.robotcore.FtcOpMode;
 import ftclib.sensor.FtcRobotBattery;
-import teamcode.subsystems.BlinkinLEDs;
+import teamcode.subsystems.LEDIndicator;
 import teamcode.subsystems.RobotBase;
 import teamcode.vision.Vision;
 import trclib.motor.TrcMotor;
@@ -59,7 +59,7 @@ public class Robot
     // Vision subsystems.
     public Vision vision;
     // Sensors and indicators.
-    public BlinkinLEDs blinkin;
+    public LEDIndicator ledIndicator;
     public FtcRobotBattery battery;
     // Subsystems.
 
@@ -95,9 +95,9 @@ public class Robot
         if (RobotParams.Preferences.robotType != RobotParams.RobotType.VisionOnly)
         {
             // Create and initialize sensors and indicators.
-            if (robotInfo.blinkinName != null)
+            if (robotInfo.indicatorName != null)
             {
-                blinkin = new BlinkinLEDs(robotInfo.blinkinName);
+                ledIndicator = new LEDIndicator(robotInfo.indicatorName);
             }
 
             if (RobotParams.Preferences.useBatteryMonitor)

TeamCode/src/main/java/teamcode/RobotParams.java

@@ -143,6 +143,8 @@ public class RobotParams
         // Status Update: Status Update may affect robot loop time, don't do it when in competition.
         public static final boolean doStatusUpdate              = !inCompetition;
         public static final boolean showSubsystems              = true;
+        public static final boolean useBlinkinLED               = true;
+        public static final boolean useGobildaLED               = false;
         // Vision
         public static final boolean useVision                   = false;
         public static final boolean useWebCam                   = false;    // false to use Android phone camera.
@@ -362,7 +364,7 @@ public class RobotParams
             webCam2 = new BackCamParams();
             limelight = new LimelightParams();
             // Miscellaneous
-            blinkinName = "blinkin";
+            indicatorName = "blinkin";
         }   //DifferentialParams
     }   //class DifferentialParams
 
@@ -457,7 +459,7 @@ public class RobotParams
             webCam2 = new BackCamParams();
             limelight = new LimelightParams();
             // Miscellaneous
-            blinkinName = "blinkin";
+            indicatorName = "blinkin";
         }   //MecanumParams
     }   //class MecanumParams
 
@@ -549,7 +551,7 @@ public class RobotParams
             webCam2 = new BackCamParams();
             limelight = new LimelightParams();
             // Miscellaneous
-            blinkinName = "blinkin";
+            indicatorName = "blinkin";
             // Steer Encoders
             steerEncoderNames = new String[] {"lfSteerEncoder", "rfSteerEncoder", "lbSteerEncoder", "rbSteerEncoder"};
             steerEncoderInverted = new boolean[] {false, false, false, false};

TeamCode/src/main/java/teamcode/subsystems/BlinkinLEDs.java

@@ -1,106 +0,0 @@
-/*
- * Copyright (c) 2023 Titan Robotics Club (http://www.titanrobotics.com)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-package teamcode.subsystems;
-
-import ftclib.driverio.FtcRevBlinkin;
-import trclib.drivebase.TrcDriveBase;
-import trclib.driverio.TrcRevBlinkin;
-
-/**
- * This class encapsulates the REV Blinkin LED controller to provide a priority indicator showing the status of the
- * robot.
- */
-public class BlinkinLEDs extends FtcRevBlinkin
-{
-    // LED pattern names.
-    public static final String APRIL_TAG = "AprilTag";
-    public static final String RED_BLOB = "RedBlob";
-    public static final String BLUE_BLOB = "BlueBlob";
-    public static final String DRIVE_ORIENTATION_FIELD = "FieldMode";
-    public static final String DRIVE_ORIENTATION_ROBOT = "RobotMode";
-    public static final String DRIVE_ORIENTATION_INVERTED = "InvertedMode";
-    public static final String OFF_PATTERN = "Off";
-
-    /**
-     * Constructor: Create an instance of the object.
-     *
-     * @param instanceName specifies the instance name. This is also the REV Blinkin's hardware name.
-     */
-    public BlinkinLEDs(String instanceName)
-    {
-        super(instanceName);
-        // LED Patterns are sorted in decreasing priority order.
-        final TrcRevBlinkin.Pattern[] ledPatternPriorities = {
-            // Highest priority.
-            new TrcRevBlinkin.Pattern(APRIL_TAG, RevLedPattern.SolidAqua),
-            new TrcRevBlinkin.Pattern(RED_BLOB, RevLedPattern.SolidRed),
-            new TrcRevBlinkin.Pattern(BLUE_BLOB, RevLedPattern.SolidBlue),
-            new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_FIELD, RevLedPattern.SolidViolet),
-            new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_ROBOT, RevLedPattern.SolidWhite),
-            new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_INVERTED, RevLedPattern.SolidGray),
-            new TrcRevBlinkin.Pattern(OFF_PATTERN, RevLedPattern.SolidBlack)
-            // Lowest priority.
-        };
-        setPatternPriorities(ledPatternPriorities);
-    }   //BlinkinLEDs
-
-    /**
-     * This method sets the pattern ON for a period of time and turns off automatically afterwards.
-     *
-     * @param patternName specifies the name of the LED pattern to turn on.
-     */
-    public void setDetectedPattern(String patternName)
-    {
-        setPatternState(patternName, true, 0.5);
-    }   //setDetectedPattern
-
-    /**
-     * This method sets the LED to indicate the drive orientation mode of the robot.
-     *
-     * @param orientation specifies the drive orientation mode.
-     */
-    public void setDriveOrientation(TrcDriveBase.DriveOrientation orientation)
-    {
-        switch (orientation)
-        {
-            case INVERTED:
-                setPatternState(DRIVE_ORIENTATION_INVERTED, true);
-                setPatternState(DRIVE_ORIENTATION_ROBOT, false);
-                setPatternState(DRIVE_ORIENTATION_FIELD, false);
-                break;
-
-            case ROBOT:
-                setPatternState(DRIVE_ORIENTATION_INVERTED, false);
-                setPatternState(DRIVE_ORIENTATION_ROBOT, true);
-                setPatternState(DRIVE_ORIENTATION_FIELD, false);
-                break;
-
-            case FIELD:
-                setPatternState(DRIVE_ORIENTATION_INVERTED, false);
-                setPatternState(DRIVE_ORIENTATION_ROBOT, false);
-                setPatternState(DRIVE_ORIENTATION_FIELD, true);
-                break;
-        }
-    }   //setDriveOrientation
-
-}   //class BlinkinLEDs

TeamCode/src/main/java/teamcode/subsystems/LEDIndicator.java

@@ -0,0 +1,144 @@
+/*
+ * Copyright (c) 2024 Titan Robotics Club (http://www.titanrobotics.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package teamcode.subsystems;
+
+import ftclib.driverio.FtcGobildaIndicatorLight;
+import ftclib.driverio.FtcRevBlinkin;
+import teamcode.RobotParams;
+import trclib.drivebase.TrcDriveBase;
+import trclib.driverio.TrcGobildaIndicatorLight;
+import trclib.driverio.TrcPriorityIndicator;
+import trclib.driverio.TrcRevBlinkin;
+
+/**
+ * This class encapsulates the LED controller to provide a priority indicator showing the status of the robot.
+ */
+public class LEDIndicator
+{
+    // LED pattern names.
+    public static final String RED_BLOB = "RedBlob";
+    public static final String BLUE_BLOB = "BlueBlob";
+    public static final String NO_BLOB = "NoBlob";
+    public static final String APRIL_TAG = "AprilTag";
+    public static final String DRIVE_ORIENTATION_FIELD = "FieldMode";
+    public static final String DRIVE_ORIENTATION_ROBOT = "RobotMode";
+    public static final String DRIVE_ORIENTATION_INVERTED = "InvertedMode";
+    public static final String OFF_PATTERN = "Off";
+
+    private final TrcPriorityIndicator<?> indicator;
+
+    /**
+     * Constructor: Create an instance of the object.
+     *
+     * @param indicatorName specifies the indicator hardware name.
+     */
+    public LEDIndicator(String indicatorName)
+    {
+        if (RobotParams.Preferences.useGobildaLED)
+        {
+            // LED Patterns are sorted in decreasing priority order.
+            final TrcGobildaIndicatorLight.Pattern[] ledPatternPriorities = {
+                // Highest priority.
+                new TrcGobildaIndicatorLight.Pattern(RED_BLOB, TrcGobildaIndicatorLight.Color.Red),
+                new TrcGobildaIndicatorLight.Pattern(BLUE_BLOB, TrcGobildaIndicatorLight.Color.Blue),
+                new TrcGobildaIndicatorLight.Pattern(NO_BLOB, TrcGobildaIndicatorLight.Color.Azure),
+                new TrcGobildaIndicatorLight.Pattern(APRIL_TAG, TrcGobildaIndicatorLight.Color.Green),
+                new TrcGobildaIndicatorLight.Pattern(DRIVE_ORIENTATION_FIELD, TrcGobildaIndicatorLight.Color.Violet),
+                new TrcGobildaIndicatorLight.Pattern(DRIVE_ORIENTATION_ROBOT, TrcGobildaIndicatorLight.Color.White),
+                new TrcGobildaIndicatorLight.Pattern(DRIVE_ORIENTATION_INVERTED, TrcGobildaIndicatorLight.Color.Orange),
+                new TrcGobildaIndicatorLight.Pattern(OFF_PATTERN, TrcGobildaIndicatorLight.Color.Off)
+                // Lowest priority.
+            };
+            indicator = new FtcGobildaIndicatorLight(indicatorName);
+            ((FtcGobildaIndicatorLight) indicator).setPatternPriorities(ledPatternPriorities);
+        }
+        else if (RobotParams.Preferences.useBlinkinLED)
+        {
+            // LED Patterns are sorted in decreasing priority order.
+            final TrcRevBlinkin.Pattern[] ledPatternPriorities = {
+                // Highest priority.
+                new TrcRevBlinkin.Pattern(RED_BLOB, TrcRevBlinkin.RevLedPattern.SolidRed),
+                new TrcRevBlinkin.Pattern(BLUE_BLOB, TrcRevBlinkin.RevLedPattern.SolidBlue),
+                new TrcRevBlinkin.Pattern(NO_BLOB, TrcRevBlinkin.RevLedPattern.SolidAqua),
+                new TrcRevBlinkin.Pattern(APRIL_TAG, TrcRevBlinkin.RevLedPattern.SolidGreen),
+                new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_FIELD, TrcRevBlinkin.RevLedPattern.SolidViolet),
+                new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_ROBOT, TrcRevBlinkin.RevLedPattern.SolidWhite),
+                new TrcRevBlinkin.Pattern(DRIVE_ORIENTATION_INVERTED, TrcRevBlinkin.RevLedPattern.SolidOrange),
+                new TrcRevBlinkin.Pattern(OFF_PATTERN, TrcRevBlinkin.RevLedPattern.SolidBlack)
+                // Lowest priority.
+            };
+            indicator = new FtcRevBlinkin(indicatorName);
+            ((FtcRevBlinkin) indicator).setPatternPriorities(ledPatternPriorities);
+        }
+        else
+        {
+            indicator = null;
+        }
+    }   //LEDIndicator
+
+    /**
+     * This method sets the pattern ON for a period of time and turns off automatically afterwards.
+     *
+     * @param patternName specifies the name of the LED pattern to turn on.
+     */
+    public void setDetectedPattern(String patternName)
+    {
+        if (indicator != null)
+        {
+            indicator.setPatternState(patternName, true, 0.5);
+        }
+    }   //setDetectedPattern
+
+    /**
+     * This method sets the LED to indicate the drive orientation mode of the robot.
+     *
+     * @param orientation specifies the drive orientation mode.
+     */
+    public void setDriveOrientation(TrcDriveBase.DriveOrientation orientation)
+    {
+        if (indicator != null)
+        {
+            switch (orientation)
+            {
+                case INVERTED:
+                    indicator.setPatternState(DRIVE_ORIENTATION_INVERTED, true);
+                    indicator.setPatternState(DRIVE_ORIENTATION_ROBOT, false);
+                    indicator.setPatternState(DRIVE_ORIENTATION_FIELD, false);
+                    break;
+
+                case ROBOT:
+                    indicator.setPatternState(DRIVE_ORIENTATION_INVERTED, false);
+                    indicator.setPatternState(DRIVE_ORIENTATION_ROBOT, true);
+                    indicator.setPatternState(DRIVE_ORIENTATION_FIELD, false);
+                    break;
+
+                case FIELD:
+                    indicator.setPatternState(DRIVE_ORIENTATION_INVERTED, false);
+                    indicator.setPatternState(DRIVE_ORIENTATION_ROBOT, false);
+                    indicator.setPatternState(DRIVE_ORIENTATION_FIELD, true);
+                    break;
+            }
+        }
+    }   //setDriveOrientation
+
+}   //class LEDIndicator

TeamCode/src/main/java/teamcode/vision/Vision.java

@@ -22,6 +22,8 @@
 
 package teamcode.vision;
 
+import com.qualcomm.robotcore.hardware.LED;
+
 import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@@ -45,7 +47,7 @@ import ftclib.vision.FtcVisionAprilTag;
 import ftclib.vision.FtcVisionEocvColorBlob;
 import teamcode.Robot;
 import teamcode.RobotParams;
-import teamcode.subsystems.BlinkinLEDs;
+import teamcode.subsystems.LEDIndicator;
 import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcDbgTrace;
 import trclib.vision.TrcOpenCvColorBlobPipeline;
@@ -441,9 +443,9 @@ public class Vision
             }
         }
 
-        if (objectName != null && robot.blinkin != null)
+        if (objectName != null && robot.ledIndicator != null)
         {
-            robot.blinkin.setDetectedPattern(objectName);
+            robot.ledIndicator.setDetectedPattern(objectName);
         }
 
         if (lineNum != -1)
@@ -542,15 +544,15 @@ public class Vision
                                  aprilTagInfo.detectedObj.getRotatedRectVertices());
         }
 
-        if (aprilTagInfo != null && robot.blinkin != null)
+        if (aprilTagInfo != null && robot.ledIndicator != null)
         {
-            robot.blinkin.setDetectedPattern(BlinkinLEDs.APRIL_TAG);
+            robot.ledIndicator.setDetectedPattern(LEDIndicator.APRIL_TAG);
         }
 
         if (lineNum != -1)
         {
             robot.dashboard.displayPrintf(
-                lineNum, "%s: %s", BlinkinLEDs.APRIL_TAG, aprilTagInfo != null? aprilTagInfo : "Not found.");
+                lineNum, "%s: %s", LEDIndicator.APRIL_TAG, aprilTagInfo != null? aprilTagInfo : "Not found.");
         }
 
         return aprilTagInfo;
@@ -681,13 +683,13 @@ public class Vision
             case RedBlob:
                 colorBlobInfo = redBlobVision != null? redBlobVision.getBestDetectedTargetInfo(
                     null, this::compareDistance, 0.0, 0.0): null;
-                colorBlobName = BlinkinLEDs.RED_BLOB;
+                colorBlobName = LEDIndicator.RED_BLOB;
                 break;
 
             case BlueBlob:
                 colorBlobInfo = blueBlobVision != null? blueBlobVision.getBestDetectedTargetInfo(
                     null, this::compareDistance, 0.0, 0.0): null;
-                colorBlobName = BlinkinLEDs.BLUE_BLOB;
+                colorBlobName = LEDIndicator.BLUE_BLOB;
                 break;
 
             case AnyColorBlob:
@@ -726,9 +728,9 @@ public class Vision
                 colorBlobInfo.detectedObj.label, colorBlobInfo.detectedObj.getRotatedRectVertices());
         }
 
-        if (colorBlobInfo != null && robot.blinkin != null)
+        if (colorBlobInfo != null && robot.ledIndicator != null)
         {
-            robot.blinkin.setDetectedPattern(colorBlobName);
+            robot.ledIndicator.setDetectedPattern(colorBlobName);
         }
 
         if (lineNum != -1)