v3.00 release

FtcRobotController/src/main/AndroidManifest.xml

@@ -2,8 +2,10 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
          xmlns:tools="http://schemas.android.com/tools"
          package="com.qualcomm.ftcrobotcontroller"
          android:versionCode="19"
          android:versionName="2.62">
          android:versionCode="20"
          android:versionName="3.0">

  <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

  <application
    android:allowBackup="true"
@@ -12,15 +14,16 @@
    android:label="@string/app_name"
    android:theme="@style/AppTheme" >

    <!-- The main robot controller activity -->
    <activity
      android:name="org.firstinspires.ftc.robotcontroller.internal.FtcRobotControllerActivity"
      android:configChanges="orientation|screenSize"
      android:label="@string/app_name"
      android:launchMode="singleTask" >

      <intent-filter>
        <action android:name="android.intent.action.MAIN" />
        <category android:name="android.intent.category.LAUNCHER" />
        <action android:name="android.intent.action.MAIN" />
      </intent-filter>

      <intent-filter>
@@ -32,10 +35,31 @@
        android:resource="@xml/device_filter" />
    </activity>

    <!-- Assistant that autostarts the robot controller on android boot -->
    <receiver
        android:enabled="true"
        android:exported="true"
        android:name="org.firstinspires.ftc.robotcontroller.internal.RunOnStartup"
        android:permission="android.permission.RECEIVE_BOOT_COMPLETED">

      <intent-filter>
        <category android:name="android.intent.category.DEFAULT" />
        <action android:name="android.intent.action.BOOT_COMPLETED" />
        <action android:name="android.intent.action.QUICKBOOT_POWERON" />
      </intent-filter>

    </receiver>

    <!-- The robot controller service in which most of the robot functionality is managed -->
    <service
      android:name="com.qualcomm.ftccommon.FtcRobotControllerService"
      android:enabled="true" />

    <!-- A service that will auto-restart the robot controller if it crashes (if it's supposed to :-) -->
    <service
      android:name="org.firstinspires.ftc.robotcontroller.internal.FtcRobotControllerWatchdogService"
      android:enabled="true" />

  </application>

</manifest>
</manifest>

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java

@@ -32,7 +32,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -139,8 +138,8 @@ public void runOpMode() {
      count++;
      // if we go too long with failure, we probably are expecting the wrong bytes.
      if (count >= 10)  {
        telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 0x%02x", currentAddress));
        hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 0x%02x", currentAddress));
        telemetry.addData("I2cAddressChange", String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
        hardwareMap.irSeekerSensor.get(String.format("Looping too long with no change, probably have the wrong address. Current address: 8bit=0x%02x", currentAddress.get8Bit()));
        telemetry.update();
      }
    }
@@ -172,9 +171,9 @@ public void runOpMode() {
      sleep(1000);
    }

    telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 0x%02x", newAddress);
    telemetry.addData("I2cAddressChange", "Successfully changed the I2C address. New address: 8bit=0x%02x", newAddress.get8Bit());
    telemetry.update();
    RobotLog.i("Successfully changed the I2C address." + String.format("New address: 0x%02x", newAddress));
    RobotLog.i("Successfully changed the I2C address." + String.format("New address: 8bit=0x%02x", newAddress.get8Bit()));

    /**** IMPORTANT NOTE ******/
    // You need to add a line like this at the top of your op mode

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

@@ -86,8 +86,8 @@ public static void registerMyOpModes(OpModeManager manager) {
    // manager.register("K9 Telop",               K9botTeleopTank_Linear.class);

    // Sensor Samples
    // manager.register("AdaFruit IMU",           SensorAdafruitIMU.class);
    // manager.register("AdaFruit IMU Cal",       SensorAdafruitIMUCalibration.class);
    // manager.register("BNO055 IMU",           SensorBNO055IMU.class);
    // manager.register("BNO055 IMU Cal",       SensorBNO055IMUCalibration.class);
    // manager.register("AdaFruit Color",         SensorAdafruitRGB.class);
    // manager.register("DIM DIO",                SensorDIO.class);
    // manager.register("HT Color",               SensorHTColor.class);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java

@@ -0,0 +1,187 @@
/*
Copyright (c) 2016 Robert Atkinson

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 Robert Atkinson nor the names of his 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.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;

import java.util.Locale;

/**
 * {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
 *
 * 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 <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
 */
@Autonomous(name = "Sensor: BNO055 IMU", group = "Sensor")
@Disabled                            // Comment this out to add to the opmode list
public class SensorBNO055IMU extends LinearOpMode
    {
    //----------------------------------------------------------------------------------------------
    // State
    //----------------------------------------------------------------------------------------------

    // The IMU sensor object
    BNO055IMU imu;

    // State used for updating telemetry
    Orientation angles;
    Acceleration gravity;

    //----------------------------------------------------------------------------------------------
    // Main logic
    //----------------------------------------------------------------------------------------------

    @Override public void runOpMode() {

        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
        parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode
        parameters.loggingEnabled      = true;
        parameters.loggingTag          = "IMU";
        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
        }
    }

    //----------------------------------------------------------------------------------------------
    // Telemetry Configuration
    //----------------------------------------------------------------------------------------------

    void composeTelemetry() {

        // At the beginning of each telemetry update, grab a bunch of data
        // from the IMU that we will then display in separate lines.
        telemetry.addAction(new Runnable() { @Override public void run()
                {
                // Acquiring the angles is relatively expensive; we don't want
                // to do that in each of the three items that need that info, as that's
                // three times the necessary expense.
                angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
                gravity  = imu.getGravity();
                }
            });

        telemetry.addLine()
            .addData("status", new Func<String>() {
                @Override public String value() {
                    return imu.getSystemStatus().toShortString();
                    }
                })
            .addData("calib", new Func<String>() {
                @Override public String value() {
                    return imu.getCalibrationStatus().toString();
                    }
                });

        telemetry.addLine()
            .addData("heading", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.firstAngle);
                    }
                })
            .addData("roll", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.secondAngle);
                    }
                })
            .addData("pitch", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.thirdAngle);
                    }
                });

        telemetry.addLine()
            .addData("grvty", new Func<String>() {
                @Override public String value() {
                    return gravity.toString();
                    }
                })
            .addData("mag", new Func<String>() {
                @Override public String value() {
                    return String.format(Locale.getDefault(), "%.3f",
                            Math.sqrt(gravity.xAccel*gravity.xAccel
                                    + gravity.yAccel*gravity.yAccel
                                    + gravity.zAccel*gravity.zAccel));
                    }
                });
    }

    //----------------------------------------------------------------------------------------------
    // Formatting
    //----------------------------------------------------------------------------------------------

    String formatAngle(AngleUnit angleUnit, double angle) {
        return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
    }

    String formatDegrees(double degrees){
        return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
    }
}