FTCLib v2.1.1

Core

• Added TrapezoidProfileCommand
• Added RepeatCommand
• Added hard encoder reset to Motor
• Fixed atTarget in SensorDistanceEx
• Fixed getName in CommandBase

Vision

• Updated EOCV version
• Added AprilTag support

Release v2.1.0

Minor bugfixes and updated dependencies for the current season.

FTCLib v2.0.1

Hotfix for Vision Package

• There was an issue with the ktx-core verison that would cause the vision package import to fail (maven include). This means you should NOT use ftclib:vision:2.0.0 as it will NOT WORK. Use 2.0.1 instead.
• Fixed the missing commit for the minAngle and maxAngle swap in SimpleServo

FTCLib v2.0

FTCLib v2.0 is a turning point in FTCLib's development. Since we have become a stable library, we've had endless support from the community, and our developer team is ecstatic with the results. We apologize for delays in release and communication due to busy schedules, as we are students and alumni focused on our own projects as well, which makes community involvement all the more important. We appreciate each and everyone of you who have taken the time to work with us.

For this update, the following summarizes the additions and fixes:

1. Upgraded Motor Groups
2. New Samples
3. Manual Control of Mecanum Wheels and Drivebase Code Streamlining
4. Fixed Bug in IMU Reset
5. Min and Max Corrected in SimpleServo
6. Fix RamseteCommand isFinished Condition
7. Encoder Rate
8. Capstone Vision for Freight Frenzy
9. Normalization for Vector2d

PIDF Controller Hotfix

• Fixes an issue with total error windup on the I-term in the PIDFController. Previously, the controller had a typo where total error was not an accumulated gain effort over the course of time but rather the integral over a small period of time.
• Fixes an android linking issue separate from the controller that was caused by the alpha version of 1.7.x core-ktx.

General Improvements and Convenience Features

Big thanks to new contributors: @litehed, @abhaybd, and @serivesmejia. This is a rather large update to FTCLib that improves quite a bit of features based on input from our users and advisors. Thank you all for using our library and wanting to see it grow and improve.

We have switched our license from the MIT License to the FIRST BSD license to conform with the WPILib guidelines. We have also migrated to Maven Central due to the unfortunate sunset of Bintray.

Core

Fixes

• Fixed the Timer subclass to work properly based on actual ElapsedTime behavior
• Motors return actual velocity rather than the target
• CommandScheduler now checks to see if the run loop is currently active to prevent a ConcurrentModificationException
• Vector projection in Vector2d now uses the correct formula
• Removed utilization of setVelocity() for DcMotorEx in MotorEx which forced the SDK RunMode to become RUN_USING_ENCODERS
• PIDFController no longer returns true initially until calculate() is called by recalculating error in setSetPoint()
• Invalid logic in sensor hardware classes
• Fixed the issue with encoder reset not working if the direction is reversed

Improvements

• SimpleServo uses AngleUnit to allow for rotation in both radians and degrees
• Add RunCommand, StartEndCommand, and LogCatCommand
• Added a kA gain option to the internal feedforward controller of the motors
• PID modes now use the actual motor velocity rather than target velocity
• A target distance can now be set for PositionControl mode which utilizes the distance per pulse configuration
• GamepadEx now incorporates ButtonReader and GamepadButton so separate objects do not have to be made (see the gitbook and this example for more information)
• The LUT class now uses a TreeMap for better efficiency
• Added a "between commands" toggle mode for triggers and buttons (overloaded toggleWhenActive/toggleWhenPressed)
• Added kotlin samples for the extensions
• Styling of the sensor classes to be more in-line with the rest of FTCLib
• Added a buffer to the motors in the case of PID not working under load

Breaking Changes

• ServoEx method rotate() was renamed rotateBy() and rotateAngle() was renamed rotateByAngle()
• SimpleServo constructor was modified to fit the new AngleUnit utility methods
• RevColorSensorV3 was removed
• Removed P controller from CRServo

Vision

• Added portrait mode to contour detector
• Made UGCountourRingDetector a usable product rather than an example
• Added samples for the starter stack detectors and pipelines
• Made camera width, height, and orientation modifiable for both starter stack detectors
• Added high goal pipelines

Issues and Feature Requests

Thank you for using FTCLib. We received great feedback and results from our open beta for this version. If you're interested in working with us for our next open beta or testing in general, feel free to join our discord. We also greatly appreciate issue opening for feature requests and bug reports. They help us keep track of project development and maintain good version history.

MotorEx Hotfix

Fixed the issue with infinite recursion crashing the activity service in .getVelocity().

MotorEx Hotfix

Fixes the bug where MotorEx cannot properly utilize methods from Motor due to the lack of proper construction of the parent class.

Ultimate Goal Vision!

FTCLib now has vision for the ring stacks with this version, along with a few minor bugfixes and features.
You can find it in the vision package.

Features

• Ring vision, both contour and rectangle
• An option to add custom CPR/RPM values to the Motor object
• GoBILDA bare motor

Bugfixes

• Removed the gamepads from the CommandOpMode as the byte array reference created a separate instance

Kotlin and Better Encoders

This is a small update that adds kotlin extensions and better encoders to the library. The encoders can now specify distance per pulse and are now the replacement of the now removed ExternalEncoder.

Updated Samples

All samples that include odometry and encoders have been updated to better reflect these changes.