Merge pull request #1 from FIRST-Tech-Challenge/20200921-085816-relea…

…se-candidate

FtcRobotController v6.0

.github/CONTRIBUTING.md

@@ -0,0 +1,68 @@
+# Contributing to the FTC SDK
+
+The following is a set of guidelines for contributing the FIRST FTC SDK.  The FTC Technology Team welcomes suggestions for improvements to core software, ideas for new features, requests for built-in support of new sensors, and well written bug reports.
+
+## How can I contribute?
+
+### Pull requests
+
+__STOP!__  If you are new to git, do not understand the mechanics of forks, branches, and pulls, if what you just read is confusing, __do not__ push this button.  Most likely it won't do what you think it will.
+
+![Pull Button](../doc/media/PullRequest.PNG)
+
+If you are looking at this button then you've pushed some changes to your team's fork of ftctechnh/ftc_app.  Congratulations!  You are almost certainly finished.
+
+The vast majority of pull requests seen on the ftctechnh/ftc_app repository are not intended to be merged into the official SDK.  Team software is just that, your team's.  It's specific to the tasks you are trying to accomplish, the testing you are doing, and goals your team has.  You don't want that pushed into the official SDK.
+
+If what you've read so far makes little sense, there are some very good git learning resources online.  
+[Git Book](https://git-scm.com/book/en/v2)  
+[Interactive Git Tutorial](https://try.github.io)
+
+##### Guidlines for experienced GIT users.
+
+If you are absolutely certain that you want to push the big green button above, read on.  Otherwise back _slowly away from keyboard_.
+
+The real intent for advanced users is often to issue a pull request from the [branch](https://www.atlassian.com/git/tutorials/using-branches/git-branch) on a local fork back to master on either the same local fork or a child of the team fork and not on the parent ftctechnh/ftc_app.  See [Creating a Pull Request](https://help.github.com/articles/creating-a-pull-request-from-a-fork/).
+
+If that is indeed the intent, then you can merge your [topic branch](https://git-scm.com/book/en/v2/Git-Branching-Branching-Workflows#Topic-Branches) into master locally by hand before pushing it up to github, or if you want a pull request for pulls between branches on the same repository because, say, you want team members to look at your software before merging into master, you can select the base fork from the dropdown on the "Open a pull request" page and select your team repo instead of ftctechnh's.
+
+Alternatively, if you have a team repository forked from ftctechnh/ftc_app, and then team members individually fork from your team repository, then pull requests from the individual team member's forks will have the main team repository automatically selected as the base fork for the pull. And you won't inadvertently request to pull your team software into ftctechnh's repository.
+
+The latter would be the "best" way to manage software among a large team. But as with all things git there are many options.
+
+Pull requests that do not fall into the category above are evaluated by the FTC Technology Team on a case-by-case basis.  Please note however that the deployment model of the SDK does not support direct pulls into ftctechnh/ftc_app.  
+
+### Report bugs
+
+This section guides you through filing a bug report.  The better the report the more likely it is to be root caused and fixed.  Please refrain from feature requests or software enhancements when opening new issues.  See Suggesting Enhancements below.
+
+#### Before submitting a bug report
+
+- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
+
+- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported.  If so, add a comment to the existing issue instead of creating a new one.
+
+#### How Do I Submit A (Good) Bug Report?
+
+Bugs are tracked as GitHub issues. Create an issue on ftctechnh/ftc_app and provide the following information.
+Explain the problem and include additional details to help maintainers reproduce the problem:
+
+- Use a clear and descriptive title for the issue to identify the problem.
+
+- Describe the exact steps which reproduce the problem in as many details as possible.
+
+- Provide specific examples to demonstrate the steps.
+
+- Describe the behavior you observed after following the steps and point out what exactly is the problem with that behavior. Explain which behavior you expected to see instead and why. If applicable, include screenshots which show you following the described steps and clearly demonstrate the problem.
+
+- If you're reporting that the RobotController crashed, include the logfile with a stack trace of the crash.  [Example of good bug report with stack trace](https://github.com/ftctechnh/ftc_app/issues/224)
+
+- If the problem wasn't triggered by a specific action, describe what you were doing before the problem happened and share more information using the guidelines below.
+
+### Suggesting Enhancements
+
+FIRST volunteers are awesome.  You all have great ideas and we want to hear them.  
+
+Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities.
+
+The best way to get momentum behind new features is to post a description of your idea in the forums.  Build community support for it.  The FTC Technology Team monitors the forums.  We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1 @@
+Before issuing a pull request, please see the contributing page.

FtcRobotController/build.gradle

@@ -0,0 +1,32 @@
+import java.text.SimpleDateFormat
+
+//
+// build.gradle in FtcRobotController
+//
+apply plugin: 'com.android.library'
+
+android {
+
+    defaultConfig {
+        minSdkVersion 23
+        targetSdkVersion 28
+        buildConfigField "String", "BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
+    }
+
+    compileSdkVersion 28
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_7
+        targetCompatibility JavaVersion.VERSION_1_7
+    }
+}
+
+repositories {
+    maven { url = "https://dl.bintray.com/first-tech-challenge/ftcsdk/" }
+
+    flatDir {
+        dirs '../libs'
+    }
+}
+
+apply from: 'build.release.gradle'

FtcRobotController/build.release.gradle

@@ -0,0 +1,10 @@
+dependencies {
+    implementation 'org.firstinspires.ftc:Inspection:6.0.1'
+    implementation 'org.firstinspires.ftc:Blocks:6.0.1'
+    implementation 'org.firstinspires.ftc:RobotCore:6.0.1'
+    implementation 'org.firstinspires.ftc:RobotServer:6.0.1'
+    implementation 'org.firstinspires.ftc:OnBotJava:6.0.1'
+    implementation 'org.firstinspires.ftc:Hardware:6.0.1'
+    implementation 'org.firstinspires.ftc:FtcCommon:6.0.1'
+    implementation 'androidx.appcompat:appcompat:1.2.0'
+}

FtcRobotController/src/main/AndroidManifest.xml

@@ -0,0 +1,65 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+          xmlns:tools="http://schemas.android.com/tools"
+          package="com.qualcomm.ftcrobotcontroller"
+          android:versionCode="38"
+          android:versionName="6.0">
+
+  <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
+
+  <application
+    android:allowBackup="true"
+    android:largeHeap="true"
+    android:extractNativeLibs="true"
+    android:icon="@drawable/ic_launcher"
+    android:label="@string/app_name"
+    android:theme="@style/AppThemeRedRC" >
+
+    <!-- Indicates to the ControlHubUpdater what the latest version of the Control Hub is that this app supports -->
+    <meta-data
+        android:name="org.firstinspires.latestSupportedControlHubVersion"
+        android:value="1" />
+
+    <!-- The main robot controller activity -->
+    <activity android:name="org.firstinspires.ftc.robotcontroller.internal.PermissionValidatorWrapper"
+              android:screenOrientation="fullUser"
+              android:configChanges="orientation|screenSize"
+              android:label="@string/app_name"
+              android:launchMode="singleTask" >
+
+      <intent-filter>
+        <category android:name="android.intent.category.LAUNCHER" />
+        <action android:name="android.intent.action.MAIN" />
+      </intent-filter>
+
+    </activity>
+
+    <activity
+      android:name="org.firstinspires.ftc.robotcontroller.internal.FtcRobotControllerActivity"
+      android:screenOrientation="fullUser"
+      android:configChanges="orientation|screenSize"
+      android:label="@string/app_name"
+      android:launchMode="singleTask" >
+
+      <intent-filter>
+        <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
+      </intent-filter>
+
+      <meta-data
+        android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
+        android:resource="@xml/device_filter" />
+
+      <!--org.firstinspires.main.entry indicates that this app is compatible with the Dragonboard Control Hub-->
+      <meta-data
+          android:name="org.firstinspires.main.entry"
+          android:value="true" />
+    </activity>
+
+    <!-- The robot controller service in which most of the robot functionality is managed -->
+    <service
+      android:name="com.qualcomm.ftccommon.FtcRobotControllerService"
+      android:enabled="true" />
+
+  </application>
+
+</manifest>

FtcRobotController/src/main/assets/FTC_2016-17.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
+  <Tracking>
+    <ImageTarget name="Wheels" size="254.000000 184.154922" />
+    <ImageTarget name="Tools" size="254.000000 184.154922" />
+    <ImageTarget name="Legos" size="254.000000 184.154922" />
+    <ImageTarget name="Gears" size="254.000000 184.154922" />
+  </Tracking>
+</QCARConfig>

FtcRobotController/src/main/assets/RelicVuMark.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<QCARConfig>
+    <Tracking>
+        <VuMark name="RelicRecovery" size="304.80000376701355 223.630235354" />
+    </Tracking>
+</QCARConfig>

FtcRobotController/src/main/assets/StonesAndChips.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<QCARConfig xsi:noNamespaceSchemaLocation="qcar_config.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+    <Tracking>
+        <ImageTarget name="stones" size="247 173"/>
+        <ImageTarget name="chips" size="247 173"/>
+    </Tracking>
+</QCARConfig>

FtcRobotController/src/main/assets/UltimateGoal.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
+  <Tracking>
+    <ImageTarget name="BlueTowerGoal" size="257.299988 171.533325" />
+    <ImageTarget name="RedTowerGoal" size="257.299988 171.533325" />
+    <ImageTarget name="RedAlliance" size="242.600006 171.430405" />
+    <ImageTarget name="BlueAlliance" size="252.500000 171.466522" />
+    <ImageTarget name="FrontWall" size="177.800003 177.800003" />
+  </Tracking>
+</QCARConfig>

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

@@ -0,0 +1,139 @@
+/* Copyright (c) 2017 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;
+import com.qualcomm.robotcore.hardware.DcMotor;
+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.
+ * When an selection is made from the menu, the corresponding OpMode
+ * class is instantiated on the Robot Controller and executed.
+ *
+ * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
+ * It includes all the skeletal structure that all iterative OpModes contain.
+ *
+ * Use Android Studios 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="Basic: Iterative OpMode", group="Iterative Opmode")
+@Disabled
+public class BasicOpMode_Iterative extends OpMode
+{
+    // Declare OpMode members.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftDrive = null;
+    private DcMotor rightDrive = null;
+
+    /*
+     * Code to run ONCE when the driver hits INIT
+     */
+    @Override
+    public void init() {
+        telemetry.addData("Status", "Initialized");
+
+        // Initialize the hardware variables. Note that the strings used here as parameters
+        // to 'get' must correspond to the names assigned during the robot configuration
+        // step (using the FTC Robot Controller app on the phone).
+        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
+        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
+
+        // Most robots need the motor on one side to be reversed to drive forward
+        // Reverse the motor that runs backwards when connected directly to the battery
+        leftDrive.setDirection(DcMotor.Direction.FORWARD);
+        rightDrive.setDirection(DcMotor.Direction.REVERSE);
+
+        // Tell the driver that initialization is complete.
+        telemetry.addData("Status", "Initialized");
+    }
+
+    /*
+     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
+     */
+    @Override
+    public void init_loop() {
+    }
+
+    /*
+     * Code to run ONCE when the driver hits PLAY
+     */
+    @Override
+    public void start() {
+        runtime.reset();
+    }
+
+    /*
+     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
+     */
+    @Override
+    public void loop() {
+        // Setup a variable for each drive wheel to save power level for telemetry
+        double leftPower;
+        double rightPower;
+
+        // Choose to drive using either Tank Mode, or POV Mode
+        // Comment out the method that's not used.  The default below is POV.
+
+        // POV Mode uses left stick to go forward, and right stick to turn.
+        // - This uses basic math to combine motions and is easier to drive straight.
+        double drive = -gamepad1.left_stick_y;
+        double turn  =  gamepad1.right_stick_x;
+        leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
+        rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;
+
+        // Tank Mode uses one stick to control each wheel.
+        // - This requires no math, but it is hard to drive forward slowly and keep straight.
+        // leftPower  = -gamepad1.left_stick_y ;
+        // rightPower = -gamepad1.right_stick_y ;
+
+        // Send calculated power to wheels
+        leftDrive.setPower(leftPower);
+        rightDrive.setPower(rightPower);
+
+        // Show the elapsed game time and wheel power.
+        telemetry.addData("Status", "Run Time: " + runtime.toString());
+        telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
+    }
+
+    /*
+     * Code to run ONCE after the driver hits STOP
+     */
+    @Override
+    public void stop() {
+    }
+
+}