Updated ftclib.

Sync'd with FRC changes.

TeamCode/src/main/java/teamcode/FtcAuto.java

@@ -129,7 +129,7 @@ public class FtcAuto extends FtcOpMode
             Robot.matchInfo = FtcMatchInfo.getMatchInfo();
             String filePrefix = String.format(
                 Locale.US, "%s%02d_Auto", Robot.matchInfo.matchType, Robot.matchInfo.matchNumber);
-            TrcDbgTrace.openTraceLog(RobotParams.System.LOG_FOLDER_PATH, filePrefix);
+            TrcDbgTrace.openTraceLog(RobotParams.Robot.LOG_FOLDER_PATH, filePrefix);
         }
         //
         // Create and run choice menus.

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

@@ -68,8 +68,8 @@ public class FtcTeleOp extends FtcOpMode
         // Create and initialize robot object.
         //
         robot = new Robot(TrcRobot.getRunMode());
-        drivePowerScale = robot.robotInfo.driveNormalScale;
+        drivePowerScale = RobotParams.Robot.DRIVE_NORMAL_SCALE;
-        turnPowerScale = robot.robotInfo.turnNormalScale;
+        turnPowerScale = RobotParams.Robot.TURN_NORMAL_SCALE;
 
         //
         // Open trace log.
@@ -79,7 +79,7 @@ public class FtcTeleOp extends FtcOpMode
             String filePrefix = Robot.matchInfo != null?
                 String.format(Locale.US, "%s%02d_TeleOp", Robot.matchInfo.matchType, Robot.matchInfo.matchNumber):
                 "Unknown_TeleOp";
-            TrcDbgTrace.openTraceLog(RobotParams.System.LOG_FOLDER_PATH, filePrefix);
+            TrcDbgTrace.openTraceLog(RobotParams.Robot.LOG_FOLDER_PATH, filePrefix);
         }
         //
         // Create and initialize Gamepads.
@@ -90,7 +90,7 @@ public class FtcTeleOp extends FtcOpMode
         operatorGamepad.setButtonEventHandler(this::operatorButtonEvent);
         driverGamepad.setLeftStickInverted(false, true);
         operatorGamepad.setRightStickInverted(false, true);
-        setDriveOrientation(robot.robotInfo.driveOrientation);
+        setDriveOrientation(RobotParams.Robot.DRIVE_ORIENTATION);
     }   //robotInit
 
     //
@@ -183,7 +183,7 @@ public class FtcTeleOp extends FtcOpMode
                 else
                 {
                     double[] inputs = driverGamepad.getDriveInputs(
-                        robot.robotInfo.driveMode, true, drivePowerScale, turnPowerScale);
+                        RobotParams.Robot.DRIVE_MODE, true, drivePowerScale, turnPowerScale);
 
                     if (robot.robotDrive.driveBase.supportsHolonomicDrive())
                     {
@@ -312,14 +312,14 @@ public class FtcTeleOp extends FtcOpMode
                 if (pressed)
                 {
                     robot.globalTracer.traceInfo(moduleName, ">>>>> DrivePower slow.");
-                    drivePowerScale = robot.robotInfo.driveSlowScale;
+                    drivePowerScale = RobotParams.Robot.DRIVE_SLOW_SCALE;
-                    turnPowerScale = robot.robotInfo.turnSlowScale;
+                    turnPowerScale = RobotParams.Robot.TURN_SLOW_SCALE;
                 }
                 else
                 {
                     robot.globalTracer.traceInfo(moduleName, ">>>>> DrivePower normal.");
-                    drivePowerScale = robot.robotInfo.driveNormalScale;
+                    drivePowerScale = RobotParams.Robot.DRIVE_NORMAL_SCALE;
-                    turnPowerScale = robot.robotInfo.turnNormalScale;
+                    turnPowerScale = RobotParams.Robot.TURN_NORMAL_SCALE;
                 }
                 break;
 

TeamCode/src/main/java/teamcode/FtcTest.java

@@ -117,7 +117,7 @@ public class FtcTest extends FtcTeleOp
 
     }   //class TestChoices
 
-    private final FtcPidCoeffCache pidCoeffCache = new FtcPidCoeffCache(RobotParams.System.TEAM_FOLDER_PATH);
+    private final FtcPidCoeffCache pidCoeffCache = new FtcPidCoeffCache(RobotParams.Robot.TEAM_FOLDER_PATH);
     private final TestChoices testChoices = new TestChoices();
     private TrcElapsedTimer elapsedTimer = null;
     private FtcChoiceMenu<Test> testMenu = null;

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

@@ -125,7 +125,7 @@ public class Robot
     @Override
     public String toString()
     {
-        return robotInfo != null? robotInfo.robotName: RobotParams.System.DEF_ROBOT_NAME;
+        return robotInfo != null? robotInfo.robotName: RobotParams.Robot.ROBOT_CODEBASE;
     }   //toString
 
     /**
@@ -267,6 +267,9 @@ public class Robot
             //
             // Display other subsystem status here.
             //
+            if (RobotParams.Preferences.showSubsystems)
+            {
+            }
         }
     }   //updateStatus
 

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

@@ -34,6 +34,7 @@ import ftclib.motor.FtcMotorActuator.MotorType;
 import trclib.dataprocessor.TrcUtil;
 import trclib.drivebase.TrcDriveBase.DriveOrientation;
 import trclib.driverio.TrcGameController;
+import trclib.driverio.TrcGameController.DriveMode;
 import trclib.pathdrive.TrcPose2D;
 import trclib.robotcore.TrcPidController.PidCoefficients;
 import trclib.vision.TrcHomographyMapper;
@@ -86,13 +87,24 @@ public class RobotParams
     /**
      * This class contains miscellaneous robot info.
      */
-    public static class System
+    public static class Robot
     {
         public static final String TEAM_FOLDER_PATH             =
             Environment.getExternalStorageDirectory().getPath() + "/FIRST/ftcTeam";
         public static final String LOG_FOLDER_PATH              = TEAM_FOLDER_PATH + "/tracelogs";
-        public static final String DEF_ROBOT_NAME               = "Robot3543";
+        public static final String STEER_ZERO_CAL_FILE          = TEAM_FOLDER_PATH + "/SteerZeroCalibration.txt";
-    }   //class System
+        public static final double DASHBOARD_UPDATE_INTERVAL    = 0.1;      // in msec
+        public static final String ROBOT_CODEBASE               = "Robot2025";
+        public static final double ROBOT_LENGTH                 = 17.0;
+        public static final double ROBOT_WIDTH                  = 17.0;
+        // Robot Drive Parameters.
+        public static final DriveMode DRIVE_MODE                = DriveMode.ArcadeMode;
+        public static final DriveOrientation DRIVE_ORIENTATION  = DriveOrientation.ROBOT;
+        public static final double DRIVE_SLOW_SCALE             = 0.3;
+        public static final double DRIVE_NORMAL_SCALE           = 1.0;
+        public static final double TURN_SLOW_SCALE              = 0.3;
+        public static final double TURN_NORMAL_SCALE            = 0.6;
+    }   //class Robot
 
     /**
      * When the season starts, the competition robot may not be ready for programmers. It's crucial to save time by
@@ -149,36 +161,80 @@ public class RobotParams
     // Robot Parameters.
     //
 
+    /**
+     * This class contains the parameters of the front camera.
+     */
+    public static class FrontCamParams extends FtcRobotDrive.VisionInfo
+    {
+        public FrontCamParams()
+        {
+            camName = "WebCam 1";
+            camImageWidth = 640;
+            camImageHeight = 480;
+            camXOffset = 0.0;                   // Inches to the right from robot center
+            camYOffset = 2.0;                   // Inches forward from robot center
+            camZOffset = 9.75;                  // Inches up from the floor
+            camPitch = 15.0;                    // degrees down from horizontal
+            camYaw = 0.0;                       // degrees clockwise from robot front
+            camRoll = 0.0;
+            camPose = new TrcPose2D(camXOffset, camYOffset, camYaw);
+            camOrientation = OpenCvCameraRotation.UPRIGHT;
+            // Homography: cameraRect in pixels, worldRect in inches
+            cameraRect = new TrcHomographyMapper.Rectangle(
+                0.0, 120.0,                                             // Camera Top Left
+                camImageWidth -1, 120.0,                                // Camera Top Right
+                0.0, camImageHeight - 1,                                // Camera Bottom Left
+                camImageWidth - 1, camImageHeight - 1);                 // Camera Bottom Right
+            worldRect = new TrcHomographyMapper.Rectangle(
+                -12.5626, 48.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset,   // World Top Left
+                11.4375, 44.75 - Robot.ROBOT_LENGTH/2.0 - camYOffset,   // World Top Right
+                -2.5625, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset,    // World Bottom Left
+                2.5626, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset);    // World Bottom Right
+        }   //FrontCamParams
+    }   //class FrontCamParams
+
+    /**
+     * This class contains the parameters of the front camera.
+     */
+    public static class BackCamParams extends FtcRobotDrive.VisionInfo
+    {
+        public BackCamParams()
+        {
+            camName = "WebCam 2";
+            camImageWidth = 640;
+            camImageHeight = 480;
+            camXOffset = 0.0;                   // Inches to the right from robot center
+            camYOffset = 2.0;                   // Inches forward from robot center
+            camZOffset = 9.75;                  // Inches up from the floor
+            camPitch = 15.0;                    // degrees down from horizontal
+            camYaw = 0.0;                       // degrees clockwise from robot front
+            camRoll = 0.0;
+            camPose = new TrcPose2D(camXOffset, camYOffset, camYaw);
+            camOrientation = OpenCvCameraRotation.UPRIGHT;
+            // Homography: cameraRect in pixels, worldRect in inches
+            cameraRect = new TrcHomographyMapper.Rectangle(
+                0.0, 120.0,                                             // Camera Top Left
+                camImageWidth -1, 120.0,                                // Camera Top Right
+                0.0, camImageHeight - 1,                                // Camera Bottom Left
+                camImageWidth - 1, camImageHeight - 1);                 // Camera Bottom Right
+            worldRect = new TrcHomographyMapper.Rectangle(
+                -12.5626, 48.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset,   // World Top Left
+                11.4375, 44.75 - Robot.ROBOT_LENGTH/2.0 - camYOffset,   // World Top Right
+                -2.5625, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset,    // World Bottom Left
+                2.5626, 21.0 - Robot.ROBOT_LENGTH/2.0 - camYOffset);    // World Bottom Right
+        }   //BackCamParams
+    }   //class BackCamParams
+
     public static class VisionOnlyParams extends FtcRobotDrive.RobotInfo
     {
         public VisionOnlyParams()
         {
             robotName = "VisionOnly";
-            // Vision
+            // Front Camera
-            webCam1Name = "Webcam 1";
+            webCam1 = new FrontCamParams();
-            webCam2Name = "Webcam 2";
+            // Back Camera
-            camImageWidth = 640;
+            webCam2 = new BackCamParams();
-            camImageHeight = 480;
-            camOrientation = OpenCvCameraRotation.UPRIGHT;
-            // Camera location On Robot
-            camXOffset = 0.0;       //Camera right offset from robot centroid
-            camYOffset = 2.0;       //Camera forward offset from robot centroid
-            camZOffset = 9.75;      //Camera height offset from floor
-            camTiltDown = 15.00;    //Camera tilt down angle from horizontal in deg
-            camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
-            // Homography: cameraRect in pixels, worldRect in inches
-            cameraRect = new TrcHomographyMapper.Rectangle(
-                0.0, 120.0,                                     // Camera Top Left
-                camImageWidth -1, 120.0,                        // Camera Top Right
-                0.0, camImageHeight - 1,                        // Camera Bottom Left
-                camImageWidth - 1, camImageHeight - 1);         // Camera Bottom Right
-            worldRect = new TrcHomographyMapper.Rectangle(
-                -12.5626, 48.0 - robotLength/2.0 - camYOffset,  // World Top Left
-                11.4375, 44.75 - robotLength/2.0 - camYOffset,  // World Top Right
-                -2.5625, 21.0 - robotLength/2.0 - camYOffset,   // World Bottom Left
-                2.5626, 21.0 - robotLength/2.0 - camYOffset);   // World Bottom Right
         }   //VisionOnlyParams
-
     }   //class VisionOnlyParams
 
     /**
@@ -193,19 +249,19 @@ public class RobotParams
         public DifferentialParams()
         {
             robotName = "DifferentialRobot";
+            // Robot Dimensions
+            robotLength = Robot.ROBOT_LENGTH;
+            robotWidth = Robot.ROBOT_WIDTH;
+            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
+            wheelBaseWidth = 16.0;
             // IMU
             imuName = "imu";
             hubLogoDirection = LogoFacingDirection.UP;
             hubUsbDirection = UsbFacingDirection.FORWARD;
-            // Robot Dimensions
-            robotLength = 17.0;
-            robotWidth = 17.0;
-            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
-            wheelBaseWidth = 16.0;
             // Drive Motors
             driveMotorType = MotorType.DcMotor;
-            driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
+            driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor"};
-            driveMotorInverted = new boolean[] {true, false, true, false};
+            driveMotorInverted = new boolean[] {true, false};
             // Odometry Wheels
             odWheelScale = Math.PI * ODWHEEL_DIAMETER / ODWHEEL_CPR;    // 0.00105687652708656383937269814237 in/count
             xOdWheelOffsetX = 0.0;
@@ -215,7 +271,6 @@ public class RobotParams
             yRightOdWheelOffsetX = 144.0 * TrcUtil.INCHES_PER_MM;
             yRightOdWheelOffsetY = -12.0 * TrcUtil.INCHES_PER_MM;
             // Drive Motor Odometry
-            xDrivePosScale = 0.01924724265461924299065420560748;        // in/count
             yDrivePosScale = 0.02166184604662450653409090909091;        // in/count
             // Robot Drive Characteristics
             robotMaxVelocity = 23.0;        // inches/sec
@@ -227,9 +282,6 @@ public class RobotParams
             // DriveBase PID Parameters
             drivePidTolerance = 1.0;
             turnPidTolerance = 1.0;
-            xDrivePidCoeffs = new PidCoefficients(0.95, 0.0, 0.001, 0.0, 0.0);
-            xDrivePidPowerLimit = 1.0;
-            xDriveMaxPidRampRate = null;
             yDrivePidCoeffs = new PidCoefficients(0.06, 0.0, 0.002, 0.0, 0.0);
             yDrivePidPowerLimit = 1.0;
             yDriveMaxPidRampRate = null;
@@ -241,39 +293,12 @@ public class RobotParams
             // PurePursuit Parameters
             ppdFollowingDistance = 6.0;
             velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
-            // Robot Drive
-            driveMode = TrcGameController.DriveMode.ArcadeMode;
-            driveOrientation = DriveOrientation.ROBOT;
-            driveSlowScale = 0.3;
-            driveNormalScale = 1.0;
-            turnSlowScale = 0.3;
-            turnNormalScale = 0.6;
             // Vision
-            webCam1Name = "Webcam 1";
+            webCam1 = new FrontCamParams();
-            webCam2Name = "Webcam 2";
+            webCam2 = new BackCamParams();
-            camImageWidth = 640;
+            // Miscellaneous
-            camImageHeight = 480;
-            camOrientation = OpenCvCameraRotation.UPRIGHT;
-            // Camera location On Robot
-            camXOffset = 0.0;       //Camera right offset from robot centroid
-            camYOffset = 2.0;       //Camera forward offset from robot centroid
-            camZOffset = 9.75;      //Camera height offset from floor
-            camTiltDown = 15.00;    //Camera tilt down angle from horizontal in deg
-            camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
-            // Homography: cameraRect in pixels, worldRect in inches
-            cameraRect = new TrcHomographyMapper.Rectangle(
-                0.0, 120.0,                                     // Camera Top Left
-                camImageWidth -1, 120.0,                        // Camera Top Right
-                0.0, camImageHeight - 1,                        // Camera Bottom Left
-                camImageWidth - 1, camImageHeight - 1);         // Camera Bottom Right
-            worldRect = new TrcHomographyMapper.Rectangle(
-                -12.5626, 48.0 - robotLength/2.0 - camYOffset,  // World Top Left
-                11.4375, 44.75 - robotLength/2.0 - camYOffset,  // World Top Right
-                -2.5625, 21.0 - robotLength/2.0 - camYOffset,   // World Bottom Left
-                2.5626, 21.0 - robotLength/2.0 - camYOffset);   // World Bottom Right
             blinkinName = "blinkin";
         }   //DifferentialParams
-
     }   //class DifferentialParams
 
     /**
@@ -288,15 +313,15 @@ public class RobotParams
         public MecanumParams()
         {
             robotName = "MecanumRobot";
+            // Robot Dimensions
+            robotLength = Robot.ROBOT_LENGTH;
+            robotWidth = Robot.ROBOT_WIDTH;
+            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
+            wheelBaseWidth = 16.0;
             // IMU
             imuName = "imu";
             hubLogoDirection = LogoFacingDirection.UP;
             hubUsbDirection = UsbFacingDirection.FORWARD;
-            // Robot Dimensions
-            robotLength = 17.0;
-            robotWidth = 17.0;
-            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
-            wheelBaseWidth = 16.0;
             // Drive Motors
             driveMotorType = MotorType.DcMotor;
             driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
@@ -336,39 +361,12 @@ public class RobotParams
             // PurePursuit Parameters
             ppdFollowingDistance = 6.0;
             velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
-            // Robot Drive
-            driveMode = TrcGameController.DriveMode.ArcadeMode;
-            driveOrientation = DriveOrientation.ROBOT;
-            driveSlowScale = 0.3;
-            driveNormalScale = 1.0;
-            turnSlowScale = 0.3;
-            turnNormalScale = 0.6;
             // Vision
-            webCam1Name = "Webcam 1";
+            webCam1 = new FrontCamParams();
-            webCam2Name = "Webcam 2";
+            webCam2 = new BackCamParams();
-            camImageWidth = 640;
+            // Miscellaneous
-            camImageHeight = 480;
-            camOrientation = OpenCvCameraRotation.UPRIGHT;
-            // Camera location On Robot
-            camXOffset = 0.0;       //Camera right offset from robot centroid
-            camYOffset = 2.0;       //Camera forward offset from robot centroid
-            camZOffset = 9.75;      //Camera height offset from floor
-            camTiltDown = 15.00;    //Camera tilt down angle from horizontal in deg
-            camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
-            // Homography: cameraRect in pixels, worldRect in inches
-            cameraRect = new TrcHomographyMapper.Rectangle(
-                0.0, 120.0,                                     // Camera Top Left
-                camImageWidth -1, 120.0,                        // Camera Top Right
-                0.0, camImageHeight - 1,                        // Camera Bottom Left
-                camImageWidth - 1, camImageHeight - 1);         // Camera Bottom Right
-            worldRect = new TrcHomographyMapper.Rectangle(
-                -12.5626, 48.0 - robotLength/2.0 - camYOffset,  // World Top Left
-                11.4375, 44.75 - robotLength/2.0 - camYOffset,  // World Top Right
-                -2.5625, 21.0 - robotLength/2.0 - camYOffset,   // World Bottom Left
-                2.5626, 21.0 - robotLength/2.0 - camYOffset);   // World Bottom Right
             blinkinName = "blinkin";
         }   //MecanumParams
-
     }   //class MecanumParams
 
     /**
@@ -383,15 +381,15 @@ public class RobotParams
         public SwerveParams()
         {
             robotName = "SwerveRobot";
+            // Robot Dimensions
+            robotLength = Robot.ROBOT_LENGTH;
+            robotWidth = Robot.ROBOT_WIDTH;
+            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
+            wheelBaseWidth = 16.0;
             // IMU
             imuName = "imu";
             hubLogoDirection = LogoFacingDirection.UP;
             hubUsbDirection = UsbFacingDirection.FORWARD;
-            // Robot Dimensions
-            robotLength = 17.0;
-            robotWidth = 17.0;
-            wheelBaseLength = (24.0 * 14)*TrcUtil.INCHES_PER_MM;
-            wheelBaseWidth = 16.0;
             // Drive Motors
             driveMotorType = MotorType.DcMotor;
             driveMotorNames = new String[] {"lfDriveMotor", "rfDriveMotor", "lbDriveMotor", "rbDriveMotor"};
@@ -428,42 +426,16 @@ public class RobotParams
             // PurePursuit Parameters
             ppdFollowingDistance = 6.0;
             velPidCoeffs = new PidCoefficients(0.0, 0.0, 0.0, 1.0 / profiledMaxVelocity, 0.0);
-            // Robot Drive
-            driveMode = TrcGameController.DriveMode.ArcadeMode;
-            driveOrientation = DriveOrientation.ROBOT;
-            driveSlowScale = 0.3;
-            driveNormalScale = 1.0;
-            turnSlowScale = 0.3;
-            turnNormalScale = 0.6;
             // Vision
-            webCam1Name = "Webcam 1";
+            webCam1 = new FrontCamParams();
-            webCam2Name = "Webcam 2";
+            webCam2 = new BackCamParams();
-            camImageWidth = 640;
+            // Miscellaneous
-            camImageHeight = 480;
-            camOrientation = OpenCvCameraRotation.UPRIGHT;
-            // Camera location On Robot
-            camXOffset = 0.0;       //Camera right offset from robot centroid
-            camYOffset = 2.0;       //Camera forward offset from robot centroid
-            camZOffset = 9.75;      //Camera height offset from floor
-            camTiltDown = 15.00;    //Camera tilt down angle from horizontal in deg
-            camPose = new TrcPose2D(camXOffset, camYOffset, 0.0);
-            // Homography: cameraRect in pixels, worldRect in inches
-            cameraRect = new TrcHomographyMapper.Rectangle(
-                0.0, 120.0,                                     // Camera Top Left
-                camImageWidth -1, 120.0,                        // Camera Top Right
-                0.0, camImageHeight - 1,                        // Camera Bottom Left
-                camImageWidth - 1, camImageHeight - 1);         // Camera Bottom Right
-            worldRect = new TrcHomographyMapper.Rectangle(
-                -12.5626, 48.0 - robotLength/2.0 - camYOffset,  // World Top Left
-                11.4375, 44.75 - robotLength/2.0 - camYOffset,  // World Top Right
-                -2.5625, 21.0 - robotLength/2.0 - camYOffset,   // World Bottom Left
-                2.5626, 21.0 - robotLength/2.0 - camYOffset);   // World Bottom Right
             blinkinName = "blinkin";
             // Steer Encoders
             steerEncoderNames = new String[] {"lfSteerEncoder", "rfSteerEncoder", "lbSteerEncoder", "rbSteerEncoder"};
-            steerEncoderInverted = new boolean[] {};
+            steerEncoderInverted = new boolean[] {false, false, false, false};
             steerEncoderZeros = new double[] {0.474812, 0.467663, 0.541338, 0.545340};
-            steerZerosFilePath = System.TEAM_FOLDER_PATH + "/SteerCalibration.txt";
+            steerZerosFilePath = Robot.STEER_ZERO_CAL_FILE;
             // Steer Motors
             steerMotorType = MotorType.CRServo;
             steerMotorNames = new String[] {"lfSteerServo", "rfSteerServo", "lbSteerServo", "rbSteerServo"};
@@ -473,7 +445,6 @@ public class RobotParams
             // Swerve Modules
             swerveModuleNames = new String[] {"lfWheel", "rfWheel", "lbWheel", "rbWheel"};
         }   //SwerveParams
-
     }   //class SwerveParams
 
     //

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

@@ -106,7 +106,7 @@ public class Vision
     {
         FtcOpMode opMode = FtcOpMode.getInstance();
 
-        if (robot.robotInfo.webCam1Name == null &&
+        if (robot.robotInfo.webCam1.camName == null &&
             (RobotParams.Preferences.useWebCam || RobotParams.Preferences.tuneColorBlobVision))
         {
             throw new IllegalArgumentException("Must provide a valid WebCam 1 name.");
@@ -114,10 +114,10 @@ public class Vision
 
         this.tracer = new TrcDbgTrace();
         this.robot = robot;
-        this.webcam1 = robot.robotInfo.webCam1Name != null?
+        this.webcam1 = robot.robotInfo.webCam1.camName != null?
-            opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam1Name): null;
+            opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam1.camName): null;
-        this.webcam2 = robot.robotInfo.webCam2Name != null?
+        this.webcam2 = robot.robotInfo.webCam2.camName != null?
-            opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam2Name): null;
+            opMode.hardwareMap.get(WebcamName.class, robot.robotInfo.webCam2.camName): null;
         if (RobotParams.Preferences.tuneColorBlobVision)
         {
             OpenCvCamera openCvCamera;
@@ -140,8 +140,9 @@ public class Vision
             rawColorBlobPipeline.setVideoOutput(0);
             rawColorBlobPipeline.setAnnotateEnabled(true);
             rawColorBlobVision = new FtcRawEocvVision(
-                "rawColorBlobVision", robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight, null, null,
+                "rawColorBlobVision", robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
-                openCvCamera, robot.robotInfo.camOrientation);
+                null, null,
+                openCvCamera, robot.robotInfo.webCam1.camOrientation);
             rawColorBlobVision.setFpsMeterEnabled(RobotParams.Preferences.showVisionStat);
             setRawColorBlobVisionEnabled(false);
         }
@@ -172,13 +173,13 @@ public class Vision
 
                 redBlobVision = new FtcVisionEocvColorBlob(
                     "RedBlob", colorConversion, redBlobColorThresholds, colorBlobFilterContourParams, true,
-                    robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
+                    robot.robotInfo.webCam1.cameraRect, robot.robotInfo.webCam1.worldRect, true);
                 redBlobProcessor = redBlobVision.getVisionProcessor();
                 visionProcessorsList.add(redBlobProcessor);
 
                 blueBlobVision = new FtcVisionEocvColorBlob(
                     "BlueBlob", colorConversion, blueBlobColorThresholds, colorBlobFilterContourParams, true,
-                    robot.robotInfo.cameraRect, robot.robotInfo.worldRect, true);
+                    robot.robotInfo.webCam1.cameraRect, robot.robotInfo.webCam1.worldRect, true);
                 blueBlobProcessor = blueBlobVision.getVisionProcessor();
                 visionProcessorsList.add(blueBlobProcessor);
             }
@@ -187,8 +188,8 @@ public class Vision
             {
                 tracer.traceInfo(moduleName, "Starting TensorFlowVision...");
                 tensorFlowVision = new FtcVisionTensorFlow(
-                    null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.cameraRect,
+                    null, true, TFOD_MODEL_ASSET, TFOD_TARGET_LABELS, robot.robotInfo.webCam1.cameraRect,
-                    robot.robotInfo.worldRect);
+                    robot.robotInfo.webCam1.worldRect);
                 tensorFlowProcessor = tensorFlowVision.getVisionProcessor();
                 tensorFlowProcessor.setMinResultConfidence(TFOD_MIN_CONFIDENCE);
                 visionProcessorsList.add(tensorFlowProcessor);
@@ -200,7 +201,7 @@ public class Vision
             {
                 // Use USB webcams.
                 vision = new FtcVision(
-                    webcam1, webcam2, robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
+                    webcam1, webcam2, robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
                     RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
             }
             else
@@ -209,7 +210,7 @@ public class Vision
                 vision = new FtcVision(
                     RobotParams.Preferences.useBuiltinCamBack?
                         BuiltinCameraDirection.BACK: BuiltinCameraDirection.FRONT,
-                    robot.robotInfo.camImageWidth, robot.robotInfo.camImageHeight,
+                    robot.robotInfo.webCam1.camImageWidth, robot.robotInfo.webCam1.camImageHeight,
                     RobotParams.Preferences.showVisionView, RobotParams.Preferences.showVisionStat, visionProcessors);
             }
             // Disable all vision until they are needed.
@@ -437,7 +438,7 @@ public class Vision
             TrcPose2D aprilTagPose =
                 RobotParams.Game.APRILTAG_POSES[aprilTagInfo.detectedObj.aprilTagDetection.id - 1];
             TrcPose2D cameraPose = aprilTagPose.subtractRelativePose(aprilTagInfo.objPose);
-            robotPose = cameraPose.subtractRelativePose(robot.robotInfo.camPose);
+            robotPose = cameraPose.subtractRelativePose(robot.robotInfo.webCam1.camPose);
             tracer.traceInfo(
                 moduleName,
                 "AprilTagId=" + aprilTagInfo.detectedObj.aprilTagDetection.id +