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FtcRobotController v10.3

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This commit is contained in:
Cal Kestis
2025-06-25 09:57:37 +09:00
parent 28d52462d1
commit a5d843eb7e
12 changed files with 651 additions and 121 deletions
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4
FtcRobotController/src/main/AndroidManifest.xml
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@@ -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="58"
android:versionName="10.2">
android:versionCode="59"
android:versionName="10.3">
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

66
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java vendored
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@@ -69,20 +69,20 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// Declare OpMode members for each of the 4 motors.
private ElapsedTime runtime = new ElapsedTime();
private DcMotor leftFrontDrive = null;
private DcMotor leftBackDrive = null;
private DcMotor rightFrontDrive = null;
private DcMotor rightBackDrive = null;
private DcMotor frontLeftDrive = null;
private DcMotor backLeftDrive = null;
private DcMotor frontRightDrive = null;
private DcMotor backRightDrive = null;
@Override
public void runOpMode() {
// Initialize the hardware variables. Note that the strings used here must correspond
// to the names assigned during the robot configuration step on the DS or RC devices.
leftFrontDrive = hardwareMap.get(DcMotor.class, "left_front_drive");
leftBackDrive = hardwareMap.get(DcMotor.class, "left_back_drive");
rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
frontLeftDrive = hardwareMap.get(DcMotor.class, "front_left_drive");
backLeftDrive = hardwareMap.get(DcMotor.class, "back_left_drive");
frontRightDrive = hardwareMap.get(DcMotor.class, "front_right_drive");
backRightDrive = hardwareMap.get(DcMotor.class, "back_right_drive");
// ########################################################################################
// !!! IMPORTANT Drive Information. Test your motor directions. !!!!!
@@ -94,10 +94,10 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
// Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
// Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
frontLeftDrive.setDirection(DcMotor.Direction.REVERSE);
backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
frontRightDrive.setDirection(DcMotor.Direction.FORWARD);
backRightDrive.setDirection(DcMotor.Direction.FORWARD);
// Wait for the game to start (driver presses START)
telemetry.addData("Status", "Initialized");
@@ -117,22 +117,22 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// Combine the joystick requests for each axis-motion to determine each wheel's power.
// Set up a variable for each drive wheel to save the power level for telemetry.
double leftFrontPower = axial + lateral + yaw;
double rightFrontPower = axial - lateral - yaw;
double leftBackPower = axial - lateral + yaw;
double rightBackPower = axial + lateral - yaw;
double frontLeftPower = axial + lateral + yaw;
double frontRightPower = axial - lateral - yaw;
double backLeftPower = axial - lateral + yaw;
double backRightPower = axial + lateral - yaw;
// Normalize the values so no wheel power exceeds 100%
// This ensures that the robot maintains the desired motion.
max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
max = Math.max(max, Math.abs(leftBackPower));
max = Math.max(max, Math.abs(rightBackPower));
max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
max = Math.max(max, Math.abs(backLeftPower));
max = Math.max(max, Math.abs(backRightPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
frontLeftPower /= max;
frontRightPower /= max;
backLeftPower /= max;
backRightPower /= max;
}
// This is test code:
@@ -146,22 +146,22 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
// Once the correct motors move in the correct direction re-comment this code.
/*
leftFrontPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
leftBackPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
rightFrontPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
rightBackPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
frontLeftPower = gamepad1.x ? 1.0 : 0.0; // X gamepad
backLeftPower = gamepad1.a ? 1.0 : 0.0; // A gamepad
frontRightPower = gamepad1.y ? 1.0 : 0.0; // Y gamepad
backRightPower = gamepad1.b ? 1.0 : 0.0; // B gamepad
*/
// Send calculated power to wheels
leftFrontDrive.setPower(leftFrontPower);
rightFrontDrive.setPower(rightFrontPower);
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
frontLeftDrive.setPower(frontLeftPower);
frontRightDrive.setPower(frontRightPower);
backLeftDrive.setPower(backLeftPower);
backRightDrive.setPower(backRightPower);
// Show the elapsed game time and wheel power.
telemetry.addData("Status", "Run Time: " + runtime.toString());
telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
telemetry.addData("Front left/Right", "%4.2f, %4.2f", frontLeftPower, frontRightPower);
telemetry.addData("Back left/Right", "%4.2f, %4.2f", backLeftPower, backRightPower);
telemetry.update();
}
}}

87
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptBlackboard.java vendored Normal file
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@@ -0,0 +1,87 @@
/* Copyright (c) 2025 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.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
/*
* Demonstrates how to use an OpMode to store data in the blackboard and retrieve it.
* This is useful for storing information in Auto and then retrieving it in your TeleOp.
*
* Be aware that this is NOT saved across power reboots or downloads or robot resets.
*
* You also need to make sure that both the storing and retrieving are done using the same
* type. For example, storing a Double in the blackboard and retrieving it as an Integer
* will fail when you typecast it.
*
* The blackboard is a standard hashmap so you can use methods like:
* put, get, containsKey, remove, etc.
*/
@TeleOp(name = "Concept: Blackboard", group = "Concept")
@Disabled
public class ConceptBlackboard extends OpMode {
// We use constants here so we won't have the problem of typos in different places when we
// meant to refer to the same thing.
public static final String TIMES_STARTED_KEY = "Times started";
public static final String ALLIANCE_KEY = "Alliance";
/**
* This method will be called once, when the INIT button is pressed.
*/
@Override
public void init() {
// This gets us what is in the blackboard or the default if it isn't in there.
Object timesStarted = blackboard.getOrDefault(TIMES_STARTED_KEY, 0);
blackboard.put(TIMES_STARTED_KEY, (int) timesStarted + 1);
telemetry.addData("OpMode started times", blackboard.get(TIMES_STARTED_KEY));
}
/**
* This method will be called repeatedly during the period between when
* the START button is pressed and when the OpMode is stopped.
* <p>
* If the left bumper is pressed it will store the value "RED" in the blackboard for alliance.
* If the right bumper is pressed it will store the value "BLUE" in the blackboard for alliance.
* <p>
* You'll notice that if you quit the OpMode and come back in, the value will persist.
*/
@Override
public void loop() {
if (gamepad1.left_bumper) {
blackboard.put(ALLIANCE_KEY, "RED");
} else if (gamepad1.right_bumper) {
blackboard.put(ALLIANCE_KEY, "BLUE");
}
telemetry.addData("Alliance", blackboard.get(ALLIANCE_KEY));
}
}

92
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadEdgeDetection.java vendored Normal file
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@@ -0,0 +1,92 @@
/*
Copyright (c) 2024 Miriam Sinton-Remes
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 FITNESSFOR 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;
/*
* This OpMode illustrates using edge detection on a gamepad.
*
* Simply checking the state of a gamepad button each time could result in triggering an effect
* multiple times. Edge detection ensures that you only detect one button press, regardless of how
* long the button is held.
*
* There are two main types of edge detection. Rising edge detection will trigger when a button is
* first pressed. Falling edge detection will trigger when the button is released.
*
* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
* Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
*/
@Disabled
@TeleOp(name="Concept: Gamepad Edge Detection", group ="Concept")
public class ConceptGamepadEdgeDetection extends LinearOpMode {
@Override
public void runOpMode() {
// Wait for the DS start button to be pressed
waitForStart();
while (opModeIsActive()) {
// Update the telemetry
telemetryButtonData();
// Wait 2 seconds before doing another check
sleep(2000);
}
}
public void telemetryButtonData() {
// Add the status of the Gamepad 1 Left Bumper
telemetry.addData("Gamepad 1 Left Bumper Pressed", gamepad1.leftBumperWasPressed());
telemetry.addData("Gamepad 1 Left Bumper Released", gamepad1.leftBumperWasReleased());
telemetry.addData("Gamepad 1 Left Bumper Status", gamepad1.left_bumper);
// Add an empty line to seperate the buttons in telemetry
telemetry.addLine();
// Add the status of the Gamepad 1 Right Bumper
telemetry.addData("Gamepad 1 Right Bumper Pressed", gamepad1.rightBumperWasPressed());
telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
// Add a note that the telemetry is only updated every 2 seconds
telemetry.addLine("\nTelemetry is updated every 2 seconds.");
// Update the telemetry on the DS screen
telemetry.update();
}
}

37
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVisionColorLocator.java vendored
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@@ -149,39 +149,54 @@ public class ConceptVisionColorLocator extends LinearOpMode
* Note: All contours will be still displayed on the Stream Preview, but only those that satisfy the filter
* conditions will remain in the current list of "blobs". Multiple filters may be used.
*
* Use any of the following filters.
* To perform a filter
* ColorBlobLocatorProcessor.Util.filterByCriteria(criteria, minValue, maxValue, blobs);
*
* ColorBlobLocatorProcessor.Util.filterByArea(minArea, maxArea, blobs);
* The following criteria are currently supported.
*
* ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA
* A Blob's area is the number of pixels contained within the Contour. Filter out any that are too big or small.
* Start with a large range and then refine the range based on the likely size of the desired object in the viewfinder.
*
* ColorBlobLocatorProcessor.Util.filterByDensity(minDensity, maxDensity, blobs);
* ColorBlobLocatorProcessor.BlobCriteria.BY_DENSITY
* A blob's density is an indication of how "full" the contour is.
* If you put a rubber band around the contour you would get the "Convex Hull" of the contour.
* The density is the ratio of Contour-area to Convex Hull-area.
*
* ColorBlobLocatorProcessor.Util.filterByAspectRatio(minAspect, maxAspect, blobs);
* ColorBlobLocatorProcessor.BlobCriteria.BY_ASPECT_RATIO
* A blob's Aspect ratio is the ratio of boxFit long side to short side.
* A perfect Square has an aspect ratio of 1. All others are > 1
*
* ColorBlobLocatorProcessor.BlobCriteria.BY_ARC_LENGTH
* A blob's arc length is the perimeter of the blob.
* This can be used in conjunction with an area filter to detect oddly shaped blobs.
*
* ColorBlobLocatorProcessor.BlobCriteria.BY_CIRCULARITY
* A blob's circularity is how circular it is based on the known area and arc length.
* A perfect circle has a circularity of 1. All others are < 1
*/
ColorBlobLocatorProcessor.Util.filterByArea(50, 20000, blobs); // filter out very small blobs.
ColorBlobLocatorProcessor.Util.filterByCriteria(
ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA,
50, 20000, blobs); // filter out very small blobs.
/*
* The list of Blobs can be sorted using the same Blob attributes as listed above.
* No more than one sort call should be made. Sorting can use ascending or descending order.
* ColorBlobLocatorProcessor.Util.sortByArea(SortOrder.DESCENDING, blobs); // Default
* ColorBlobLocatorProcessor.Util.sortByDensity(SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByAspectRatio(SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByCriteria(ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA SortOrder.DESCENDING, blobs); // Default
* ColorBlobLocatorProcessor.Util.sortByCriteria(ColorBlobLocatorProcessor.BlobCriteria.BY_DENSITY SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByCriteria(ColorBlobLocatorProcessor.BlobCriteria.BY_ASPECT_RATIO SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByCriteria(ColorBlobLocatorProcessor.BlobCriteria.BY_ARC_LENGTH SortOrder.DESCENDING, blobs);
* ColorBlobLocatorProcessor.Util.sortByCriteria(ColorBlobLocatorProcessor.BlobCriteria.BY_CIRCULARITY SortOrder.DESCENDING, blobs);
*/
telemetry.addLine(" Area Density Aspect Center");
telemetry.addLine("Area Density Aspect Arc Circle Center");
// Display the size (area) and center location for each Blob.
for(ColorBlobLocatorProcessor.Blob b : blobs)
{
RotatedRect boxFit = b.getBoxFit();
telemetry.addLine(String.format("%5d %4.2f %5.2f (%3d,%3d)",
b.getContourArea(), b.getDensity(), b.getAspectRatio(), (int) boxFit.center.x, (int) boxFit.center.y));
telemetry.addLine(String.format("%5d %4.2f %5.2f %3d %5.3f (%3d,%3d)",
b.getContourArea(), b.getDensity(), b.getAspectRatio(), (int) b.getArcLength(), b.getCircularity(), (int) boxFit.center.x, (int) boxFit.center.y));
}
telemetry.update();

23
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVisionColorSensor.java vendored
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@@ -21,13 +21,13 @@
package org.firstinspires.ftc.robotcontroller.external.samples;
import android.graphics.Color;
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.Telemetry;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.opencv.ImageRegion;
@@ -112,22 +112,33 @@ public class ConceptVisionColorSensor extends LinearOpMode
.build();
telemetry.setMsTransmissionInterval(50); // Speed up telemetry updates, Just use for debugging.
telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
// WARNING: To be able to view the stream preview on the Driver Station, this code runs in INIT mode.
while (opModeIsActive() || opModeInInit())
{
telemetry.addData("DS preview on/off", "3 dots, Camera Stream\n");
telemetry.addLine("Preview on/off: 3 dots, Camera Stream\n");
// Request the most recent color analysis.
// This will return the closest matching colorSwatch and the predominant RGB color.
// Note: to take actions based on the detected color, simply use the colorSwatch in a comparison or switch.
// This will return the closest matching colorSwatch and the predominant color in RGB, HSV and YCrCb color spaces.
// The color space values are returned as three-element int[] arrays as follows:
// RGB Red 0-255, Green 0-255, Blue 0-255
// HSV Hue 0-180, Saturation 0-255, Value 0-255
// YCrCb Luminance(Y) 0-255, Cr 0-255 (center 128), Cb 0-255 (center 128)
//
// Note: to take actions based on the detected color, simply use the colorSwatch or color space value in a comparison or switch.
// eg:
// if (result.closestSwatch == PredominantColorProcessor.Swatch.RED) {... some code ...}
// or:
// if (result.RGB[0] > 128) {... some code ...}
PredominantColorProcessor.Result result = colorSensor.getAnalysis();
// Display the Color Sensor result.
telemetry.addData("Best Match:", result.closestSwatch);
telemetry.addLine(String.format("R %3d, G %3d, B %3d", Color.red(result.rgb), Color.green(result.rgb), Color.blue(result.rgb)));
telemetry.addData("Best Match", result.closestSwatch);
telemetry.addLine(String.format("RGB (%3d, %3d, %3d)", result.RGB[0], result.RGB[1], result.RGB[2]));
telemetry.addLine(String.format("HSV (%3d, %3d, %3d)", result.HSV[0], result.HSV[1], result.HSV[2]));
telemetry.addLine(String.format("YCrCb (%3d, %3d, %3d)", result.YCrCb[0], result.YCrCb[1], result.YCrCb[2]));
telemetry.update();
sleep(20);

56
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java vendored
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@@ -61,7 +61,7 @@ import java.util.concurrent.TimeUnit;
* 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 code assumes a Robot Configuration with motors named: front_left_drive and front_right_drive, back_left_drive and back_right_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.
@@ -103,10 +103,10 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
final double MAX_AUTO_STRAFE= 0.5; // Clip the strafing 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 DcMotor frontLeftDrive = null; // Used to control the left front drive wheel
private DcMotor frontRightDrive = null; // Used to control the right front drive wheel
private DcMotor backLeftDrive = null; // Used to control the left back drive wheel
private DcMotor backRightDrive = 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.
@@ -127,18 +127,18 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
// 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");
frontLeftDrive = hardwareMap.get(DcMotor.class, "front_left_drive");
frontRightDrive = hardwareMap.get(DcMotor.class, "front_right_drive");
backLeftDrive = hardwareMap.get(DcMotor.class, "back_left_drive");
backRightDrive = hardwareMap.get(DcMotor.class, "back_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
leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
frontLeftDrive.setDirection(DcMotor.Direction.REVERSE);
backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
frontRightDrive.setDirection(DcMotor.Direction.FORWARD);
backRightDrive.setDirection(DcMotor.Direction.FORWARD);
if (USE_WEBCAM)
setManualExposure(6, 250); // Use low exposure time to reduce motion blur
@@ -227,28 +227,28 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
*/
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;
double frontLeftPower = x - y - yaw;
double frontRightPower = x + y + yaw;
double backLeftPower = x + y - yaw;
double backRightPower = 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));
double max = Math.max(Math.abs(frontLeftPower), Math.abs(frontRightPower));
max = Math.max(max, Math.abs(backLeftPower));
max = Math.max(max, Math.abs(backRightPower));
if (max > 1.0) {
leftFrontPower /= max;
rightFrontPower /= max;
leftBackPower /= max;
rightBackPower /= max;
frontLeftPower /= max;
frontRightPower /= max;
backLeftPower /= max;
backRightPower /= max;
}
// Send powers to the wheels.
leftFrontDrive.setPower(leftFrontPower);
rightFrontDrive.setPower(rightFrontPower);
leftBackDrive.setPower(leftBackPower);
rightBackDrive.setPower(rightBackPower);
frontLeftDrive.setPower(frontLeftPower);
frontRightDrive.setPower(frontRightPower);
backLeftDrive.setPower(backLeftPower);
backRightDrive.setPower(backRightPower);
}
/**

163
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopMecanumFieldRelativeDrive.java vendored Normal file
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@@ -0,0 +1,163 @@
/* Copyright (c) 2025 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.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.IMU;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
/*
* This OpMode illustrates how to program your robot to drive field relative. This means
* that the robot drives the direction you push the joystick regardless of the current orientation
* of the robot.
*
* This OpMode assumes that you have four mecanum wheels each on its own motor named:
* front_left_motor, front_right_motor, back_left_motor, back_right_motor
*
* and that the left motors are flipped such that when they turn clockwise the wheel moves backwards
*
* 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 = "Robot: Field Relative Mecanum Drive", group = "Robot")
@Disabled
public class RobotTeleopMecanumFieldRelativeDrive extends OpMode {
// This declares the four motors needed
DcMotor frontLeftDrive;
DcMotor frontRightDrive;
DcMotor backLeftDrive;
DcMotor backRightDrive;
// This declares the IMU needed to get the current direction the robot is facing
IMU imu;
@Override
public void init() {
frontLeftDrive = hardwareMap.get(DcMotor.class, "front_left_drive");
frontRightDrive = hardwareMap.get(DcMotor.class, "front_right_drive");
backLeftDrive = hardwareMap.get(DcMotor.class, "back_left_drive");
backRightDrive = hardwareMap.get(DcMotor.class, "back_right_drive");
// We set the left motors in reverse which is needed for drive trains where the left
// motors are opposite to the right ones.
backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
frontLeftDrive.setDirection(DcMotor.Direction.REVERSE);
// This uses RUN_USING_ENCODER to be more accurate. If you don't have the encoder
// wires, you should remove these
frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
imu = hardwareMap.get(IMU.class, "imu");
// This needs to be changed to match the orientation on your robot
RevHubOrientationOnRobot.LogoFacingDirection logoDirection =
RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.UsbFacingDirection usbDirection =
RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
RevHubOrientationOnRobot orientationOnRobot = new
RevHubOrientationOnRobot(logoDirection, usbDirection);
imu.initialize(new IMU.Parameters(orientationOnRobot));
}
@Override
public void loop() {
telemetry.addLine("Press A to reset Yaw");
telemetry.addLine("Hold left bumper to drive in robot relative");
telemetry.addLine("The left joystick sets the robot direction");
telemetry.addLine("Moving the right joystick left and right turns the robot");
// If you press the A button, then you reset the Yaw to be zero from the way
// the robot is currently pointing
if (gamepad1.a) {
imu.resetYaw();
}
// If you press the left bumper, you get a drive from the point of view of the robot
// (much like driving an RC vehicle)
if (gamepad1.left_bumper) {
drive(-gamepad1.left_stick_y, gamepad1.left_stick_x, gamepad1.right_stick_x);
} else {
driveFieldRelative(-gamepad1.left_stick_y, gamepad1.left_stick_x, gamepad1.right_stick_x);
}
}
// This routine drives the robot field relative
private void driveFieldRelative(double forward, double right, double rotate) {
// First, convert direction being asked to drive to polar coordinates
double theta = Math.atan2(forward, right);
double r = Math.hypot(right, forward);
// Second, rotate angle by the angle the robot is pointing
theta = AngleUnit.normalizeRadians(theta -
imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
// Third, convert back to cartesian
double newForward = r * Math.sin(theta);
double newRight = r * Math.cos(theta);
// Finally, call the drive method with robot relative forward and right amounts
drive(newForward, newRight, rotate);
}
// Thanks to FTC16072 for sharing this code!!
public void drive(double forward, double right, double rotate) {
// This calculates the power needed for each wheel based on the amount of forward,
// strafe right, and rotate
double frontLeftPower = forward + right + rotate;
double frontRightPower = forward - right - rotate;
double backRightPower = forward + right - rotate;
double backLeftPower = forward - right + rotate;
double maxPower = 1.0;
double maxSpeed = 1.0; // make this slower for outreaches
// This is needed to make sure we don't pass > 1.0 to any wheel
// It allows us to keep all of the motors in proportion to what they should
// be and not get clipped
maxPower = Math.max(maxPower, Math.abs(frontLeftPower));
maxPower = Math.max(maxPower, Math.abs(frontRightPower));
maxPower = Math.max(maxPower, Math.abs(backRightPower));
maxPower = Math.max(maxPower, Math.abs(backLeftPower));
// We multiply by maxSpeed so that it can be set lower for outreaches
// When a young child is driving the robot, we may not want to allow full
// speed.
frontLeftDrive.setPower(maxSpeed * (frontLeftPower / maxPower));
frontRightDrive.setPower(maxSpeed * (frontRightPower / maxPower));
backLeftDrive.setPower(maxSpeed * (backLeftPower / maxPower));
backRightDrive.setPower(maxSpeed * (backRightPower / maxPower));
}
}

116
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorGoBildaPinpoint.java vendored Normal file
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/*
* Copyright (c) 2025 Alan Smith
*
* 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 org.firstinspires.ftc.robotcontroller.external.samples;
import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
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.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.Pose2D;
/*
* This OpMode illustrates how to use the GoBildaPinpoint
*
* The OpMode assumes that the sensor is configured with a name of "pinpoint".
*
* 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 the sensor's product page: https://www.gobilda.com/pinpoint-odometry-computer-imu-sensor-fusion-for-2-wheel-odometry/
*/
@TeleOp(name = "Sensor: GoBilda Pinpoint", group = "Sensor")
@Disabled
public class SensorGoBildaPinpoint extends OpMode {
// Create an instance of the sensor
GoBildaPinpointDriver pinpoint;
@Override
public void init() {
// Get a reference to the sensor
pinpoint = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
// Configure the sensor
configurePinpoint();
// Set the location of the robot - this should be the place you are starting the robot from
pinpoint.setPosition(new Pose2D(DistanceUnit.INCH, 0, 0, AngleUnit.DEGREES, 0));
}
@Override
public void loop() {
telemetry.addLine("Push your robot around to see it track");
telemetry.addLine("Press A to reset the position");
if(gamepad1.a){
// You could use readings from April Tags here to give a new known position to the pinpoint
pinpoint.setPosition(new Pose2D(DistanceUnit.INCH, 0, 0, AngleUnit.DEGREES, 0));
}
pinpoint.update();
Pose2D pose2D = pinpoint.getPosition();
telemetry.addData("X coordinate (IN)", pose2D.getX(DistanceUnit.INCH));
telemetry.addData("Y coordinate (IN)", pose2D.getY(DistanceUnit.INCH));
telemetry.addData("Heading angle (DEGREES)", pose2D.getHeading(AngleUnit.DEGREES));
}
public void configurePinpoint(){
/*
* Set the odometry pod positions relative to the point that you want the position to be measured from.
*
* The X pod offset refers to how far sideways from the tracking point the X (forward) odometry pod is.
* Left of the center is a positive number, right of center is a negative number.
*
* The Y pod offset refers to how far forwards from the tracking point the Y (strafe) odometry pod is.
* Forward of center is a positive number, backwards is a negative number.
*/
pinpoint.setOffsets(-84.0, -168.0, DistanceUnit.MM); //these are tuned for 3110-0002-0001 Product Insight #1
/*
* Set the kind of pods used by your robot. If you're using goBILDA odometry pods, select either
* the goBILDA_SWINGARM_POD, or the goBILDA_4_BAR_POD.
* If you're using another kind of odometry pod, uncomment setEncoderResolution and input the
* number of ticks per unit of your odometry pod. For example:
* pinpoint.setEncoderResolution(13.26291192, DistanceUnit.MM);
*/
pinpoint.setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
/*
* Set the direction that each of the two odometry pods count. The X (forward) pod should
* increase when you move the robot forward. And the Y (strafe) pod should increase when
* you move the robot to the left.
*/
pinpoint.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD,
GoBildaPinpointDriver.EncoderDirection.FORWARD);
/*
* Before running the robot, recalibrate the IMU. This needs to happen when the robot is stationary
* The IMU will automatically calibrate when first powered on, but recalibrating before running
* the robot is a good idea to ensure that the calibration is "good".
* resetPosAndIMU will reset the position to 0,0,0 and also recalibrate the IMU.
* This is recommended before you run your autonomous, as a bad initial calibration can cause
* an incorrect starting value for x, y, and heading.
*/
pinpoint.resetPosAndIMU();
}
}

62
FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorLimelight3A.java vendored
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@@ -100,7 +100,7 @@ public class SensorLimelight3A extends LinearOpMode {
status.getPipelineIndex(), status.getPipelineType());
LLResult result = limelight.getLatestResult();
if (result != null) {
if (result.isValid()) {
// Access general information
Pose3D botpose = result.getBotpose();
double captureLatency = result.getCaptureLatency();
@@ -110,43 +110,41 @@ public class SensorLimelight3A extends LinearOpMode {
telemetry.addData("Parse Latency", parseLatency);
telemetry.addData("PythonOutput", java.util.Arrays.toString(result.getPythonOutput()));
if (result.isValid()) {
telemetry.addData("tx", result.getTx());
telemetry.addData("txnc", result.getTxNC());
telemetry.addData("ty", result.getTy());
telemetry.addData("tync", result.getTyNC());
telemetry.addData("tx", result.getTx());
telemetry.addData("txnc", result.getTxNC());
telemetry.addData("ty", result.getTy());
telemetry.addData("tync", result.getTyNC());
telemetry.addData("Botpose", botpose.toString());
telemetry.addData("Botpose", botpose.toString());
// Access barcode results
List<LLResultTypes.BarcodeResult> barcodeResults = result.getBarcodeResults();
for (LLResultTypes.BarcodeResult br : barcodeResults) {
telemetry.addData("Barcode", "Data: %s", br.getData());
}
// Access barcode results
List<LLResultTypes.BarcodeResult> barcodeResults = result.getBarcodeResults();
for (LLResultTypes.BarcodeResult br : barcodeResults) {
telemetry.addData("Barcode", "Data: %s", br.getData());
}
// Access classifier results
List<LLResultTypes.ClassifierResult> classifierResults = result.getClassifierResults();
for (LLResultTypes.ClassifierResult cr : classifierResults) {
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f", cr.getClassName(), cr.getConfidence());
}
// Access classifier results
List<LLResultTypes.ClassifierResult> classifierResults = result.getClassifierResults();
for (LLResultTypes.ClassifierResult cr : classifierResults) {
telemetry.addData("Classifier", "Class: %s, Confidence: %.2f", cr.getClassName(), cr.getConfidence());
}
// Access detector results
List<LLResultTypes.DetectorResult> detectorResults = result.getDetectorResults();
for (LLResultTypes.DetectorResult dr : detectorResults) {
telemetry.addData("Detector", "Class: %s, Area: %.2f", dr.getClassName(), dr.getTargetArea());
}
// Access detector results
List<LLResultTypes.DetectorResult> detectorResults = result.getDetectorResults();
for (LLResultTypes.DetectorResult dr : detectorResults) {
telemetry.addData("Detector", "Class: %s, Area: %.2f", dr.getClassName(), dr.getTargetArea());
}
// Access fiducial results
List<LLResultTypes.FiducialResult> fiducialResults = result.getFiducialResults();
for (LLResultTypes.FiducialResult fr : fiducialResults) {
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f", fr.getFiducialId(), fr.getFamily(),fr.getTargetXDegrees(), fr.getTargetYDegrees());
}
// Access fiducial results
List<LLResultTypes.FiducialResult> fiducialResults = result.getFiducialResults();
for (LLResultTypes.FiducialResult fr : fiducialResults) {
telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f", fr.getFiducialId(), fr.getFamily(), fr.getTargetXDegrees(), fr.getTargetYDegrees());
}
// Access color results
List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
for (LLResultTypes.ColorResult cr : colorResults) {
telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
}
// Access color results
List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
for (LLResultTypes.ColorResult cr : colorResults) {
telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
}
} else {
telemetry.addData("Limelight", "No data available");

48
README.md
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@@ -59,6 +59,54 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
# Release Information
## Version 10.3 (20250625-090416)
### Breaking Changes
* The behavior of setGlobalErrorMsg() is changed. Note that this is an SDK internal method that is not
meant to be used by team software or third party libraries. Teams or libraries using this method should
find another means to communicate failure. The design intent of setGlobalErrorMsg() is to report an
error and force the user to restart the robot, which in certain circumstances when used inappropriately
could cause a robot to continue running while Driver Station controls are disabled. To prevent this,
processing of a call to setGlobalErrorMsg() is deferred until the robot is in a known safe state. This may
mean that a call to setGlobalErrorMsg() that does not also result in stopping a running OpMode will appear
as though nothing happened until the robot is stopped, at which point, if clearGlobalErrorMsg() has not
been called the message will appear on the Driver Station and a restart will be required.
Addresses issue [1381](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1381)
* Fixes getLatestResult in Limelight3A so if the Limelight hasn't provided data yet, it still returns an LLResult but valid will be false
* If you previously used to check and see if this was `null` to see if the Limelight had been contacted, you now need to use `isValid()` on the result. That is because now it always returns an LLResult even before it talks to the Limelight, but if it doesn't have valid data, the `isValid()` will be `false`.
* Changed all omni samples to use front_left_drive, front_right_drive, back_left_drive, back_right_drive
* This is only breaking for you if you copy one of the changed samples to your own project and expect to use the same robot configuration as before.
### Known Issues
* The redesigned OnBotJava new file workflow allows the user to use a lowercase letter as the first character of a filename.
This is a regression from 10.2 which required the first character to be uppercase. Software will build, but if the user tries
to rename the file, the rename will fail.
### Enhancements
* Improved the OBJ new file creation flow workflow. The new flow allows you to easily use samples, craft new custom OpModes and make new Java classes.
* Added support for gamepad edge detection.
* A new sample program `ConceptGamepadEdgeDetection` demonstrates its use.
* Adds a blackboard member to the Opmode that maintains state between opmodes (but not between robot resets). See the ConceptBlackboard sample for how to use it.
* Updated PredominantColorProcessor to also return the predominant color in RGB, HSV and YCrCb color spaces. Updated ConceptVisionColorSensor sample OpMode to display the getAnalysis() result in all three color spaces.
* Adds support for the GoBilda Pinpoint
* Also adds `SensorGoBildaPinpoint` sample to show how to use it
* Added `getArcLength()` and `getCircularity()` to ColorBlobLocatorProcessor.Blob. Added BY_ARC_LENGTH and BY_CIRCULARITY as additional BlobCriteria.
* Added `filterByCriteria()` and `sortByCriteria()` to ColorBlobLocatorProcessor.Util.
* The filter and sort methods for specific criteria have been deprecated.
* The updated sample program `ConceptVisionColorLocator` provides more details on the new syntax.
* Add Help menu item and Help page that is available when connected to the robot controller via Program and Manage. The Help page has links to team resources such as [FTC Documentation](https://ftc-docs.firstinspires.org/), [FTC Discussion Forums](https://ftc-community.firstinspires.org), [Java FTC SDK API Documentation](https://javadoc.io/doc/org.firstinspires.ftc), and [FTC Game Information](https://ftc.game/).
* Self inspection changes:
* List both the Driver Station Name and Robot Controller Name when inspecting the Driver Station.
* Report if the team number portion of the device names do not match.
* -rc is no longer valid as part of a Robot Controller name, must be -RC.
* Use Robot Controller Name or Driver Station Name labels on the inspection screens instead of WIFI Access Point or WIFI Direct Name.
### Bug Fixes
* Fixes issue [1478](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1478) in AnnotatedHooksClassFilter that ignored exceptions if they occur in one of the SDK app hooks.
* Fix initialize in distance sensor (Rev 2m) to prevent bad data in first call to getDistance.
* Fixes issue [1470](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1470) Scaling a servo range is now irrespective of reverse() being called. For example, if you set the scale range to [0.0, 0.5] and the servo is reversed, it will be from 0.5 to 0.0, NOT 1.0 to 0.5.
* Fixes issue [1232](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1232), a rare race condition where using the log rapidly along with other telemetry could cause a crash.
## Version 10.2 (20250121-174034)
### Enhancements

16
build.dependencies.gradle
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@@ -4,14 +4,14 @@ repositories {
}
dependencies {
implementation 'org.firstinspires.ftc:Inspection:10.2.0'
implementation 'org.firstinspires.ftc:Blocks:10.2.0'
implementation 'org.firstinspires.ftc:RobotCore:10.2.0'
implementation 'org.firstinspires.ftc:RobotServer:10.2.0'
implementation 'org.firstinspires.ftc:OnBotJava:10.2.0'
implementation 'org.firstinspires.ftc:Hardware:10.2.0'
implementation 'org.firstinspires.ftc:FtcCommon:10.2.0'
implementation 'org.firstinspires.ftc:Vision:10.2.0'
implementation 'org.firstinspires.ftc:Inspection:10.3.0'
implementation 'org.firstinspires.ftc:Blocks:10.3.0'
implementation 'org.firstinspires.ftc:RobotCore:10.3.0'
implementation 'org.firstinspires.ftc:RobotServer:10.3.0'
implementation 'org.firstinspires.ftc:OnBotJava:10.3.0'
implementation 'org.firstinspires.ftc:Hardware:10.3.0'
implementation 'org.firstinspires.ftc:FtcCommon:10.3.0'
implementation 'org.firstinspires.ftc:Vision:10.3.0'
implementation 'androidx.appcompat:appcompat:1.2.0'
}