FtcRobotController v12.0

FtcRobotController/src/main/AndroidManifest.xml

@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
     android:versionCode="63"
-          android:versionName="11.2.1">
+          android:versionName="12.0">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -38,8 +38,10 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCompatibil
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.internal.usb.UsbConstants;
 import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 
@@ -150,12 +152,12 @@ public class ConceptAprilTag extends LinearOpMode {
         aprilTag = new AprilTagProcessor.Builder()
 
             // The following default settings are available to un-comment and edit as needed.
-            //.setDrawAxes(false)
+            //.setDrawAxes(true) // Changed in V12.0
-            //.setDrawCubeProjection(false)
             //.setDrawTagOutline(true)
             //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
             //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
             //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+            //.setDrawCubeProjection(false)
 
             // == CAMERA CALIBRATION ==
             // If you do not manually specify calibration parameters, the SDK will attempt
@@ -220,14 +222,25 @@ public class ConceptAprilTag extends LinearOpMode {
 
         // Step through the list of detections and display info for each one.
         for (AprilTagDetection detection : currentDetections) {
-            if (detection.metadata != null) {
+            if (detection instanceof AprilTagSingleDetection) {
-                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;
+
+                if (singleDet.metadata != null) {
+                    telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
+                    telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                    telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                    telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+                } else {
+                    telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
+                    telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", singleDet.center.x, singleDet.center.y));
+                }
+            } else {
+                AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
+                telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
+                telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
                 telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
                 telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
                 telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
-            } else {
-                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
-                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
             }
         }   // end for() loop
 

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

@@ -36,8 +36,10 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDir
 import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraCompatibilityManager;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 
@@ -45,6 +47,8 @@ import java.util.List;
  * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
  * the easy way.
  *
+ * Note: See ConceptAprilTag.java for how to add a camera compatibility quirk
+ *
  * For an introduction to AprilTags, see the FTC-DOCS link below:
  * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
  *
@@ -78,33 +82,10 @@ public class ConceptAprilTagEasy extends LinearOpMode {
      */
     private VisionPortal visionPortal;
 
-    // To find the VID/PID for a camera:
-    //
-    // Linux: open a terminal, run "lsusb", locate the line for your camera,
-    // and find the section that resembles "ID 1d6b:0002"; this is VID:PID
-    //
-    // OSX: open a terminal, run "system_profiler SPUSBDataType", locate the
-    // section for your camera, and find the "Product ID:" and "Vendor ID:"
-    // listings in the output
-    //
-    // Windows: open a PowerShell, run:
-    // Get-PnpDevice -PresentOnly | Where-Object { $_.InstanceId -like 'USB*' } | Select-Object FriendlyName, InstanceId
-    // and locate the line for your camera. The VID and PID is listed directly in the line.
-    static final int VENDOR_ID_SUNPLUS_INNOVATION_TECHNOLOGY = 0x1BCF;
-    static final int PRODUCT_ID_ARDUCAM_OV5648 = 0x284C;
-
     @Override
     public void runOpMode() {
 
-        // Demonstrate how to add a camera compatibility quirk
+        // See ConceptAprilTag.java for how to add a camera compatibility quirk
-        // these can sometimes be needed if a camera behaves poorly.
-        // Quirks have no effect unless the camera you are using matches the specified VID/PID
-        CameraCompatibilityManager.getInstance()
-                .addQuirk(
-                        VENDOR_ID_SUNPLUS_INNOVATION_TECHNOLOGY,
-                        PRODUCT_ID_ARDUCAM_OV5648,
-                        CameraCompatibilityManager.Quirk.AVOID_LIB_USB_RESET_DEVICE);
-
         initAprilTag();
 
         // Wait for the DS start button to be touched.
@@ -165,14 +146,25 @@ public class ConceptAprilTagEasy extends LinearOpMode {
 
         // Step through the list of detections and display info for each one.
         for (AprilTagDetection detection : currentDetections) {
-            if (detection.metadata != null) {
+            if (detection instanceof AprilTagSingleDetection) {
-                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;
+
+                if (singleDet.metadata != null) {
+                    telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
+                    telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                    telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                    telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+                } else {
+                    telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
+                    telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", singleDet.center.x, singleDet.center.y));
+                }
+            }  else {
+                AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
+                telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
+                telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
                 telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
                 telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
                 telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
-            } else {
-                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
-                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
             }
         }   // end for() loop
 

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

@@ -43,6 +43,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 
@@ -177,7 +178,7 @@ public class ConceptAprilTagLocalization extends LinearOpMode {
         aprilTag = new AprilTagProcessor.Builder()
 
                 // The following default settings are available to un-comment and edit as needed.
-                //.setDrawAxes(false)
+                //.setDrawAxes(true)  // changed in V12.0
                 //.setDrawCubeProjection(false)
                 //.setDrawTagOutline(true)
                 //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
@@ -247,22 +248,23 @@ public class ConceptAprilTagLocalization extends LinearOpMode {
 
         // Step through the list of detections and display info for each one.
         for (AprilTagDetection detection : currentDetections) {
-            if (detection.metadata != null) {
+            if (detection instanceof AprilTagSingleDetection) {
-                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;
-                // Only use tags that don't have Obelisk in them
+
-                if (!detection.metadata.name.contains("Obelisk")) {
+                if (singleDet.metadata != null) {
-                    telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)",
+                    telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
+                    telemetry.addLine(String.format("Robot XYZ %6.1f %6.1f %6.1f  (inch)",
                             detection.robotPose.getPosition().x,
                             detection.robotPose.getPosition().y,
                             detection.robotPose.getPosition().z));
-                    telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)",
+                    telemetry.addLine(String.format("Robot PRY %6.1f %6.1f %6.1f  (deg)",
                             detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
                             detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
                             detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
+                } else {
+                    telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
+                    telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", singleDet.center.x, singleDet.center.y));
                 }
-            } else {
-                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
-                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
             }
         }   // end for() loop
 

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

@@ -37,8 +37,10 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.VisionPortal.CameraState;
+import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 
@@ -153,14 +155,25 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
 
         // Step through the list of detections and display info for each one.
         for (AprilTagDetection detection : currentDetections) {
-            if (detection.metadata != null) {
+            if (detection instanceof AprilTagSingleDetection) {
-                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;
+
+                if (singleDet.metadata != null) {
+                    telemetry.addLine(String.format("\n==== (ID %d) %s", singleDet.id, singleDet.metadata.name));
+                    telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                    telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                    telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+                } else {
+                    telemetry.addLine(String.format("\n==== (ID %d) Unknown", singleDet.id));
+                    telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", singleDet.center.x, singleDet.center.y));
+                }
+            }  else {
+                AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
+                telemetry.addLine(String.format("\n==== Tag Cluster (%s)", clusterDet.metadata.name));
+                telemetry.addLine(String.format("Percent tags found: %d", clusterDet.percentClusterFound));
                 telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
                 telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
                 telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
-            } else {
-                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
-                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
             }
         }   // end for() loop
 

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

@@ -39,25 +39,32 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
 import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 import java.util.concurrent.TimeUnit;
 
 /*
- * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
+ * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag or AprilTag Cluster
+ * A "Cluster" is a group of Apriltags that share a common origin, and are identified by name.
  * The code assumes a Holonomic (Mecanum or X Drive) Robot.
  *
  * For an introduction to AprilTags, see the ftc-docs link below:
  * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
  *
- * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * When an AprilTag/Cluster in the TagLibrary is detected, the SDK provides location and orientation of the target, relative to the camera.
  * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
  * https://ftc-docs.firstinspires.org/apriltag-detection-values
  *
- * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
+ * For a single tag, the "Drive Target" is the center of the Tag.  For a cluster of tags, the "Drive Target" will be the
- * driving towards the tag to achieve the desired distance.
+ * (0,0,0) ORIGIN of the cluster, which may have been positioned somewhere other than the center of the cluster in order
+ * to help to locate a game objective.
+ *
+ * The driving goal is to rotate to keep the Target centered in the camera, while strafing to be directly in front of the target,
+ *  and driving towards the target to achieve the desired distance.
  * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
  * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
  *
@@ -73,9 +80,9 @@ import java.util.concurrent.TimeUnit;
  * Release the Left Bumper to return to manual driving mode.
  *
  * Under "Drive To Target" mode, the robot has three goals:
- * 1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
+ * 1) Turn the robot to always keep the Target centered on the camera frame. (Use the Target Bearing to turn the robot.)
- * 2) Strafe the robot towards the centerline of the Tag, so it approaches directly in front  of the tag.  (Use the Target Yaw to strafe the robot)
+ * 2) Strafe the robot towards the centerline of the Target, so it approaches directly in front  of the tag.  (Use the Target Yaw to strafe the robot)
- * 3) Drive towards the Tag to get to the desired distance.  (Use Tag Range to drive the robot forward/backward)
+ * 3) Drive towards the Target to get to the desired distance.  (Use TargetRange to drive the robot forward/backward)
  *
  * Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
  * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN, STRAFE_GAIN and TURN_GAIN constants.
@@ -90,7 +97,7 @@ import java.util.concurrent.TimeUnit;
 public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 {
     // Adjust these numbers to suit your robot.
-    final double DESIRED_DISTANCE = 12.0; //  this is how close the camera should get to the target (inches)
+    final double DESIRED_DISTANCE = 30.0; //  this is how close the camera should get to the target (inches)
 
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
@@ -99,24 +106,31 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
     final double STRAFE_GAIN =  0.015 ;   //  Strafe Speed Control "Gain".  e.g. Ramp up to 37% power at a 25 degree Yaw error.   (0.375 / 25.0)
     final double TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
 
-    final double MAX_AUTO_SPEED = 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
+    final double MAX_AUTO_SPEED = 0.5;    //  Clip the approach speed to this max value (adjust for your robot)
-    final double MAX_AUTO_STRAFE= 0.5;   //  Clip the strafing speed to this max value (adjust for your robot)
+    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)
+    final double MAX_AUTO_TURN  = 0.3;    //  Clip the turn speed to this max value (adjust for your robot)
 
     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 frontRightDrive = null; //  Used to control the right front drive wheel
-    private DcMotor backLeftDrive = null;  //  Used to control the left back 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 final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = -1;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private final int DESIRED_TAG_ID = -1;    // The tag you want to approach, or set to -1 for ANY tag.
+    private final String DESIRED_CLUSTER_NAME = null; // The cluster name you want to approach, or set null for ANY cluster.
+
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
-    private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
+
+    private boolean targetFound  = false;    // Set to true when an AprilTag/Cluster target is detected
+    private String targetName    = "none";
+    private int    targetID      = 0;
+    private double targetRange   = 0;
+    private double targetBearing = 0;
+    private double targetYaw     = 0;
 
     @Override public void runOpMode()
     {
-        boolean targetFound     = false;    // Set to true when an AprilTag target is detected
         double  drive           = 0;        // Desired forward power/speed (-1 to +1)
         double  strafe          = 0;        // Desired strafe power/speed (-1 to +1)
         double  turn            = 0;        // Desired turning power/speed (-1 to +1)
@@ -152,36 +166,57 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
         while (opModeIsActive())
         {
             targetFound = false;
-            desiredTag  = null;
 
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                // Look to see if we have size info on this tag.
+
-                if (detection.metadata != null) {
+                if (detection instanceof AprilTagSingleDetection) {
-                    //  Check to see if we want to track towards this tag.
+                    AprilTagSingleDetection singleDetection = (AprilTagSingleDetection) detection;
-                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+
-                        // Yes, we want to use this tag.
+                    // Look to see if we have size info on this tag.
-                        targetFound = true;
+                    if (singleDetection.metadata != null) {
-                        desiredTag = detection;
+                        //  Check to see if we want to track towards this tag.
-                        break;  // don't look any further.
+                        if ((DESIRED_TAG_ID < 0) || (singleDetection.id == DESIRED_TAG_ID)) {
+                            // Yes, we want to use this tag.
+                            targetName    = singleDetection.metadata.name;
+                            targetID      = singleDetection.id;
+                            targetRange   = singleDetection.ftcPose.range;
+                            targetBearing = singleDetection.ftcPose.bearing;
+                            targetYaw     = singleDetection.ftcPose.yaw;
+                            targetFound = true;
+                            break;  // don't look any further.
+                        } else {
+                            // This tag is in the library, but we do not want to track it right now.
+                            telemetry.addData("Skipping", "Tag ID %d is not desired", singleDetection.id);
+                        }
                     } else {
-                        // This tag is in the library, but we do not want to track it right now.
+                        // This tag is NOT in the library, so we don't have enough information to track to it.
-                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                        telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", singleDetection.id);
                     }
                 } else {
-                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
-                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
+
+                    if (DESIRED_CLUSTER_NAME == null || clusterDet.metadata.shortName.equals(DESIRED_CLUSTER_NAME) ) {
+                        // Yes, we want to use this tag.
+                        targetName    = clusterDet.metadata.shortName;
+                        targetID      = -1;
+                        targetRange   = clusterDet.ftcPose.range;
+                        targetBearing = clusterDet.ftcPose.bearing;
+                        targetYaw     = clusterDet.ftcPose.yaw;
+                        targetFound = true;
+                        break;  // don't look any further.
+                    }
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
                 telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("Found", "ID %d (%s)", targetID, targetName);
-                telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
+                telemetry.addData("Range",  "%5.1f inches", targetRange);
-                telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
+                telemetry.addData("Bearing","%3.0f degrees", targetBearing);
-                telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
+                telemetry.addData("Yaw","%3.0f degrees", targetYaw);
             } else {
                 telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
@@ -190,9 +225,9 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
             if (gamepad1.left_bumper && targetFound) {
 
                 // Determine heading, range and Yaw (tag image rotation) error so we can use them to control the robot automatically.
-                double  rangeError      = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
+                double  rangeError      = targetRange - DESIRED_DISTANCE;
-                double  headingError    = desiredTag.ftcPose.bearing;
+                double  headingError    = targetBearing;
-                double  yawError        = desiredTag.ftcPose.yaw;
+                double  yawError        = targetYaw;
 
                 // Use the speed and turn "gains" to calculate how we want the robot to move.
                 drive  = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
@@ -201,7 +236,6 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 
                 telemetry.addData("Auto","Drive %5.2f, Strafe %5.2f, Turn %5.2f ", drive, strafe, turn);
             } else {
-
                 // drive using manual POV Joystick mode.  Slow things down to make the robot more controlable.
                 drive  = -gamepad1.left_stick_y  / 2.0;  // Reduce drive rate to 50%.
                 strafe = -gamepad1.left_stick_x  / 2.0;  // Reduce strafe rate to 50%.
@@ -218,11 +252,8 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 
     /**
      * Move robot according to desired axes motions
-     * <p>
      * Positive X is forward
-     * <p>
      * Positive Y is strafe left
-     * <p>
      * Positive Yaw is counter-clockwise
      */
     public void moveRobot(double x, double y, double yaw) {

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

@@ -39,44 +39,50 @@ import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
 import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagClusterDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagSingleDetection;
 
 import java.util.List;
 import java.util.concurrent.TimeUnit;
 
 /*
- * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
+ * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag or AprilTag Cluster
- * The code assumes a basic two-wheel (Tank) Robot Drivetrain
+ * A "Cluster" is a group of Apriltags that share a common origin, and are identified by name.
+ * The code assumes a basic two-motor Tank (differential) drive robot.
  *
  * For an introduction to AprilTags, see the ftc-docs link below:
  * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
  *
- * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * When an AprilTag/Cluster in the TagLibrary is detected, the SDK provides location and orientation of the target, relative to the camera.
  * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
  * https://ftc-docs.firstinspires.org/apriltag-detection-values
  *
- * The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
+ * For a single tag, the "Drive Target" is the center of the Tag.  For a cluster of tags, the "Drive Target" will be the
- * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
+ * (0,0,0) ORIGIN of the cluster, which may have been positioned somewhere other than the center of the cluster in order
- * You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
+ * to help to locate a game objective.
  *
- * The code assumes a Robot Configuration with motors named left_drive and right_drive.
+ * The driving goal is to rotate to keep the Target centered in the camera, while driving towards the target to achieve the desired distance.
- * The motor directions must be set so a positive power goes forward on both wheels;
+ * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
- * This sample assumes that the default AprilTag Library (usually for the current season) is being loaded by default
+ * You can determine the best Exposure and Gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
+ *
+ * The code assumes a Robot Configuration with motors named: left_drive and right_drive.
+ * The motor directions must be set so a positive power goes forward on 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.
  *
- * Under manual control, the left stick will move forward/back, and the right stick will rotate the robot.
+ * Under manual control, the left stick will move forward/back & left/right.  The right stick will rotate the robot.
- * This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
- *
  * Manually drive the robot until it displays Target data on the Driver Station.
+ *
  * Press and hold the *Left Bumper* to enable the automatic "Drive to target" mode.
  * Release the Left Bumper to return to manual driving mode.
  *
- *  Under "Drive To Target" mode, the robot has two goals:
+ * Under "Drive To Target" mode, the robot has two goals:
- *  1) Turn the robot to always keep the Tag centered on the camera frame. (Use the Target Bearing to turn the robot.)
+ * 1) Turn the robot to always keep the Target centered on the camera frame. (Use the Target Bearing to turn the robot.)
- *  2) Drive towards the Tag to get to the desired distance.  (Use Tag Range to drive the robot forward/backward)
+ * 2) Drive towards the Target to get to the desired distance.  (Use TargetRange to drive the robot forward/backward)
  *
- *  Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
+ * Use DESIRED_DISTANCE to set how close you want the robot to get to the target.
  * Speed and Turn sensitivity can be adjusted using the SPEED_GAIN and TURN_GAIN constants.
  *
  * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
@@ -89,7 +95,7 @@ import java.util.concurrent.TimeUnit;
 public class RobotAutoDriveToAprilTagTank extends LinearOpMode
 {
     // Adjust these numbers to suit your robot.
-    final double DESIRED_DISTANCE = 12.0; //  this is how close the camera should get to the target (inches)
+    final double DESIRED_DISTANCE = 30.0; //  this is how close the camera should get to the target (inches)
 
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
@@ -103,15 +109,22 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
     private DcMotor leftDrive   = null;  //  Used to control the left drive wheel
     private DcMotor rightDrive  = null;  //  Used to control the right drive wheel
 
-    private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
+    private final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = -1;    // Choose the tag you want to approach or set to -1 for ANY tag.
+    private final int DESIRED_TAG_ID = -1;    // The tag you want to approach, or set to -1 for ANY tag.
+    private final String DESIRED_CLUSTER_NAME = null; // The cluster name you want to approach, or set null for ANY cluster.
+
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
-    private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
+
+    private boolean targetFound  = false;    // Set to true when an AprilTag/Cluster target is detected
+    private String targetName    = "none";
+    private int    targetID      = 0;
+    private double targetRange   = 0;
+    private double targetBearing = 0;
+    private double targetYaw     = 0;
 
     @Override public void runOpMode()
     {
-        boolean targetFound     = false;    // Set to true when an AprilTag target is detected
         double  drive           = 0;        // Desired forward power/speed (-1 to +1) +ve is forward
         double  turn            = 0;        // Desired turning power/speed (-1 to +1) +ve is CounterClockwise
 
@@ -142,35 +155,57 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
         while (opModeIsActive())
         {
             targetFound = false;
-            desiredTag  = null;
 
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                // Look to see if we have size info on this tag.
+
-                if (detection.metadata != null) {
+                if (detection instanceof AprilTagSingleDetection) {
-                    //  Check to see if we want to track towards this tag.
+                    AprilTagSingleDetection singleDetection = (AprilTagSingleDetection) detection;
-                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+
-                        // Yes, we want to use this tag.
+                    // Look to see if we have size info on this tag.
-                        targetFound = true;
+                    if (singleDetection.metadata != null) {
-                        desiredTag = detection;
+                        //  Check to see if we want to track towards this tag.
-                        break;  // don't look any further.
+                        if ((DESIRED_TAG_ID < 0) || (singleDetection.id == DESIRED_TAG_ID)) {
+                            // Yes, we want to use this tag.
+                            targetName    = singleDetection.metadata.name;
+                            targetID      = singleDetection.id;
+                            targetRange   = singleDetection.ftcPose.range;
+                            targetBearing = singleDetection.ftcPose.bearing;
+                            targetYaw     = singleDetection.ftcPose.yaw;
+                            targetFound = true;
+                            break;  // don't look any further.
+                        } else {
+                            // This tag is in the library, but we do not want to track it right now.
+                            telemetry.addData("Skipping", "Tag ID %d is not desired", singleDetection.id);
+                        }
                     } else {
-                        // This tag is in the library, but we do not want to track it right now.
+                        // This tag is NOT in the library, so we don't have enough information to track to it.
-                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                        telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", singleDetection.id);
+                    }
+                }  else {
+                    AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
+
+                    if (DESIRED_CLUSTER_NAME == null || clusterDet.metadata.shortName.equals(DESIRED_CLUSTER_NAME) ) {
+                        // Yes, we want to use this tag.
+                        targetName    = clusterDet.metadata.shortName;
+                        targetID      = -1;
+                        targetRange   = clusterDet.ftcPose.range;
+                        targetBearing = clusterDet.ftcPose.bearing;
+                        targetYaw     = clusterDet.ftcPose.yaw;
+                        targetFound = true;
+                        break;  // don't look any further.
                     }
-                } else {
-                    // This tag is NOT in the library, so we don't have enough information to track to it.
-                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
                 telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("Found", "ID %d (%s)", targetID, targetName);
-                telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
+                telemetry.addData("Range",  "%5.1f inches", targetRange);
-                telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
+                telemetry.addData("Bearing","%3.0f degrees", targetBearing);
+                telemetry.addData("Yaw","%3.0f degrees", targetYaw);
             } else {
                 telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
@@ -179,8 +214,8 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
             if (gamepad1.left_bumper && targetFound) {
 
                 // Determine heading and range error so we can use them to control the robot automatically.
-                double  rangeError   = (desiredTag.ftcPose.range - DESIRED_DISTANCE);
+                double  rangeError      = targetRange - DESIRED_DISTANCE;
-                double  headingError = desiredTag.ftcPose.bearing;
+                double  headingError    = targetBearing;
 
                 // Use the speed and turn "gains" to calculate how we want the robot to move.  Clip it to the maximum
                 drive = Range.clip(rangeError * SPEED_GAIN, -MAX_AUTO_SPEED, MAX_AUTO_SPEED);
@@ -188,7 +223,6 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
 
                 telemetry.addData("Auto","Drive %5.2f, Turn %5.2f", drive, turn);
             } else {
-
                 // drive using manual POV Joystick mode.
                 drive = -gamepad1.left_stick_y  / 2.0;  // Reduce drive rate to 50%.
                 turn  = -gamepad1.right_stick_x / 4.0;  // Reduce turn rate to 25%.
@@ -204,9 +238,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
 
     /**
      * Move robot according to desired axes motions
-     * <p>
      * Positive X is forward
-     * <p>
      * Positive Yaw is counter-clockwise
      */
     public void moveRobot(double x, double yaw) {

README.md

@@ -1,12 +1,12 @@
 ## NOTICE
 
-This repository contains the public FTC SDK for the DECODE (2025-2026) competition season.
+This repository contains the public FTC SDK for the BIOBUZZ (2026-2027) competition season.
 
 ## Welcome!
 This GitHub repository contains the source code that is used to build an Android app to control a *FIRST* Tech Challenge competition robot.  To use this SDK, download/clone the entire project to your local computer.
 
 ## Requirements
-To use this Android Studio project, you will need Android Studio Ladybug (2024.2) or later.
+To use this Android Studio project, you will need Android Studio Narwhal 3 Feature Drop or later.
 
 To program your robot in Blocks or OnBot Java, you do not need Android Studio.
 
@@ -59,6 +59,54 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 12.0 (20260907-090034)
+
+### Breaking Changes
+* The new AprilTag Cluster capability breaks legacy AprilTag OpModes resulting in compile errors for software that uses AprilTagDetection objects in both Android Studio and OnBot Java.
+  * Legacy AprilTag OpModes must be updated to check whether the returned AprilTag is a cluster or singleton,
+     and cast the returned detection into the correct type to access its elements.  See below:    
+     
+	 **Old method for AprilTag processing**
+    ```
+     for (AprilTagDetection detection : currentDetections) {
+       // Do single Tag processing here  
+     }
+    ```
+
+     **New method for AprilTag Singleton/Cluster processing**
+
+    ```
+     for (AprilTagDetection detection : currentDetections) {
+       if (detection instanceof AprilTagSingleDetection) {
+         AprilTagSingleDetection singleDet = (AprilTagSingleDetection) detection;
+         // Do single Tag processing here  
+       } else {
+         AprilTagClusterDetection clusterDet = (AprilTagClusterDetection) detection;
+         // Do cluster Tag processing here  
+       }
+     }
+     ```
+    For more information about how to update your OpModes to fix the breaking change see: https://ftc-docs.firstinspires.org/apriltag-clusters
+    
+  * About AprilTag clusters:  
+    * Clusters are co-planar groups of two or more AprilTags wherein the position of each member tag is defined relative to a common origin
+    * This origin may be placed outside the bounds of the tags themselves to provide a more suitable "aiming" target
+    * Clusters are resilient to partial occlusion. Full 6DOF pose can be estimated from a cluster even if only a single member tag is visible. Of course, the more tags that are visible, the better and more stable the pose estimate will be
+    * All AprilTag samples have been updated to differentiate between standalone tags and clusters
+  
+### Enhancements
+* Adds a tree view for robot configurations [issue 1821](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1821)
+* Gamepad indicators on the Driver Station are now colored orange if the respective gamepads are connected to the Android generic gamepad driver instead of the Driver Station's usermode USB driver 
+* Updated AprilTag Library for BIOBUZZ. Notably, getCurrentGameTagLibrary() now returns BIOBUZZ tags.
+  * In BIOBUZZ, the Origin of each cluster is located in the center of the Cell opening for easy aiming.
+  * The Origin X,Y & Z Axes are now displayed by default on the preview image.
+  * <B>Unfortunately, since BIOBUZZ AprilTags move, they are not suitable for absolute Field Localization.</B>
+* Supports OctoQuad MK2 firmware v3.1.0, which adds diagnostics parameters for the IMU and MCU uptime
+
+### Bug Fixes
+* Fixes issue [2078](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/2078) where battery
+voltage was not updated on driver station if OpMode did not send any telemetry.
+
 ## Version 11.2.1 (20260724-093406)
 
 ### Bug Fixes

build.dependencies.gradle

@@ -4,14 +4,14 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:11.2.1'
+    implementation 'org.firstinspires.ftc:Inspection:12.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.2.1'
+    implementation 'org.firstinspires.ftc:Blocks:12.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.2.1'
+    implementation 'org.firstinspires.ftc:RobotCore:12.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:11.2.1'
+    implementation 'org.firstinspires.ftc:RobotServer:12.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.2.1'
+    implementation 'org.firstinspires.ftc:OnBotJava:12.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.2.1'
+    implementation 'org.firstinspires.ftc:Hardware:12.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.2.1'
+    implementation 'org.firstinspires.ftc:FtcCommon:12.0.0'
-    implementation 'org.firstinspires.ftc:Vision:11.2.1'
+    implementation 'org.firstinspires.ftc:Vision:12.0.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 }