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));
+    }
+}