Merge pull request FIRST-Tech-Challenge#674 from FIRST-Tech-Challenge…

…/20230830-154348-release-candidate

FtcRobotController v9.0

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="50"
-          android:versionName="8.2">
+    android:versionCode="51"
+          android:versionName="9.0">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -35,7 +35,7 @@
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-/**
+/*
  * This file contains an example of a Linear "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
  * The names of OpModes appear on the menu of the FTC Driver Station.
@@ -60,10 +60,10 @@
  * the direction of all 4 motors (see code below).
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 
-@TeleOp(name="Basic: Omni Linear OpMode", group="Linear Opmode")
+@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
 @Disabled
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 

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

@@ -36,7 +36,7 @@
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
-/**
+/*
  * This file contains an example of an iterative (Non-Linear) "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
  * The names of OpModes appear on the menu of the FTC Driver Station.
@@ -47,10 +47,10 @@
  * It includes all the skeletal structure that all iterative OpModes contain.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 
-@TeleOp(name="Basic: Iterative OpMode", group="Iterative Opmode")
+@TeleOp(name="Basic: Iterative OpMode", group="Iterative OpMode")
 @Disabled
 public class BasicOpMode_Iterative extends OpMode
 {

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

@@ -29,15 +29,15 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
 
-/**
+/*
  * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
  * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
  * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
@@ -47,10 +47,10 @@
  * It includes all the skeletal structure that all linear OpModes contain.
  *
  * 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
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 
-@TeleOp(name="Basic: Linear OpMode", group="Linear Opmode")
+@TeleOp(name="Basic: Linear OpMode", group="Linear OpMode")
 @Disabled
 public class BasicOpMode_Linear extends LinearOpMode {
 

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

@@ -32,19 +32,16 @@
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import java.util.List;
-import android.util.Size;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 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.AprilTagGameDatabase;
 
-/**
- * This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation,
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag recognition and pose estimation,
  * including Java Builder structures for specifying Vision parameters.
  *
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
@@ -57,12 +54,12 @@ public class ConceptAprilTag extends LinearOpMode {
     private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
 
     /**
-     * {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
+     * The variable to store our instance of the AprilTag processor.
      */
     private AprilTagProcessor aprilTag;
 
     /**
-     * {@link #visionPortal} is the variable to store our instance of the vision portal.
+     * The variable to store our instance of the vision portal.
      */
     private VisionPortal visionPortal;
 
@@ -162,7 +159,7 @@ private void initAprilTag() {
 
 
     /**
-     * Function to add telemetry about AprilTag detections.
+     * Add telemetry about AprilTag detections.
      */
     private void telemetryAprilTag() {
 

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

@@ -32,15 +32,16 @@
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import java.util.List;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
-/**
- * This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
  * the easy way.
  *
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
@@ -53,12 +54,12 @@ public class ConceptAprilTagEasy extends LinearOpMode {
     private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
 
     /**
-     * {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
+     * The variable to store our instance of the AprilTag processor.
      */
     private AprilTagProcessor aprilTag;
 
     /**
-     * {@link #visionPortal} is the variable to store our instance of the vision portal.
+     * The variable to store our instance of the vision portal.
      */
     private VisionPortal visionPortal;
 
@@ -118,7 +119,7 @@ private void initAprilTag() {
     }   // end method initAprilTag()
 
     /**
-     * Function to add telemetry about AprilTag detections.
+     * Add telemetry about AprilTag detections.
      */
     private void telemetryAprilTag() {
 

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

@@ -33,19 +33,17 @@
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.util.Range;
-
 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.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
 import java.util.List;
 import java.util.concurrent.TimeUnit;
 
-/**
+/*
  * This OpMode determines the best Exposure for minimizing image motion-blur on a Webcam
  * Note that it is not possible to control the exposure for a Phone Camera, so if you are using a Phone for the Robot Controller
  * this OpMode/Feature only applies to an externally connected Webcam

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

@@ -32,7 +32,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import java.util.List;
 import org.firstinspires.ftc.robotcore.external.ClassFactory;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -41,8 +40,10 @@
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
-/**
- * This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
  * two webcams.
  *
  * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
@@ -52,20 +53,20 @@
 @Disabled
 public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
 
-    /**
+    /*
      * Variables used for switching cameras.
      */
     private WebcamName webcam1, webcam2;
     private boolean oldLeftBumper;
     private boolean oldRightBumper;
 
     /**
-     * {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
+     * The variable to store our instance of the AprilTag processor.
      */
     private AprilTagProcessor aprilTag;
 
     /**
-     * {@link #visionPortal} is the variable to store our instance of the vision portal.
+     * The variable to store our instance of the vision portal.
      */
     private VisionPortal visionPortal;
 
@@ -130,7 +131,7 @@ private void initAprilTag() {
     }   // end method initAprilTag()
 
     /**
-     * Function to add telemetry about camera switching.
+     * Add telemetry about camera switching.
      */
     private void telemetryCameraSwitching() {
 
@@ -145,7 +146,7 @@ private void telemetryCameraSwitching() {
     }   // end method telemetryCameraSwitching()
 
     /**
-     * Function to add telemetry about AprilTag detections.
+     * Add telemetry about AprilTag detections.
      */
     private void telemetryAprilTag() {
 
@@ -173,7 +174,7 @@ private void telemetryAprilTag() {
     }   // end method telemetryAprilTag()
 
     /**
-     * Function to set the active camera according to input from the gamepad.
+     * Set the active camera according to input from the gamepad.
      */
     private void doCameraSwitching() {
         if (visionPortal.getCameraState() == CameraState.STREAMING) {