Version 7.0 (20210915-141025)

Enhancements and New Features

• Adds support for external libraries to OnBotJava and Blocks.
  • Upload .jar and .aar files in OnBotJava.
    • Known limitation - RobotController device must be running Android 7.0 or greater.
    • Known limitation - .aar files with assets are not supported.
  • External libraries can provide support for hardware devices by using the annotation in the com.qualcomm.robotcore.hardware.configuration.annotations package.
  • External libraries can include .so files for native code.
  • External libraries can be used from OnBotJava op modes.
  • External libraries that use the following annotations can be used from Blocks op modes.
    • org.firstinspires.ftc.robotcore.external.ExportClassToBlocks
    • org.firstinspires.ftc.robotcore.external.ExportToBlocks
  • External libraries that use the following annotations can add new hardware devices:
    • com.qualcomm.robotcore.hardware.configuration.annotations.AnalogSensorType
    • com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties
    • com.qualcomm.robotcore.hardware.configuration.annotations.DigitalIoDeviceType
    • com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType
    • com.qualcomm.robotcore.hardware.configuration.annotations.MotorType
    • com.qualcomm.robotcore.hardware.configuration.annotations.ServoType
  • External libraries that use the following annotations can add new functionality to the Robot Controller:
    • org.firstinspires.ftc.ftccommon.external.OnCreate
    • org.firstinspires.ftc.ftccommon.external.OnCreateEventLoop
    • org.firstinspires.ftc.ftccommon.external.OnCreateMenu
    • org.firstinspires.ftc.ftccommon.external.OnDestroy
    • org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar
• Adds support for REV Robotics Driver Hub
• Adds fully custom userspace USB gamepad driver to Driver Station (see "Advanced Gamepad Features" menu in DS settings)
  • Allows gamepads to work on devices without native Linux kernel support (e.g. some Romanian Motorola devices)
  • Allows the DS to read the unique serial number of each gamepad, enabling auto-recovery of dropped gamepads even if two gamepads of the same model drop. (NOTE: unfortunately this does not apply to Etpark gamepads, because they do not have a unique serial)
  • Reading the unique serial number also provides the ability to configure the DS to assign gamepads to a certain position by default (so no need to do start+a/b at all)
  • The LED ring on the Xbox360 gamepad and the RGB LED bar on the PS4 gamepad is used to indicate the driver position the gamepad is bound to
  • The rumble motors on the Xbox360, PS4, and Etpark gamepads can be controlled from OpModes
  • The 2-point touchpad on the PS4 gamepad can be read from OpModes
  • The "back" and "guide" buttons on the gamepad can now be safely bound to robot controls (Previously, on many devices, Android would intercept these buttons as home button presses and close the app)
  • Advanced Gamepad features are enabled by default, but may be disabled through the settings menu in order to revert to gamepad support provided natively by Android
• Improves accuracy of ping measurement
  • Fixes issue where the ping time showed as being higher than reality when initially connecting to or restarting the robot
  • To see the full improvement, you must update both the Robot Controller and Driver Station apps
• Updates samples located at /FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples
  • Added ConceptGamepadRumble and ConceptGamepadTouchpad samples to illustrtate the use of these new gampad capabilities.
  • Condensed existing Vuforia samples into just 2 samples (ConceptVuforiaFieldNavigation & ConceptVuforiaFieldNavigationWebcam) showing how to determine the robot's location on the field using Vuforia. These both use the current season's Target images.
  • Added ConceptVuforiaDriveToTargetWebcam to illustrate an easy way to drive directly to any visible Vuforia target.
• Makes many improvements to the warning system and individual warnings
  • Warnings are now much more spaced out, so that they are easier to read
  • New warnings were added for conditions that should be resolved before competing
  • The mismatched apps warning now uses the major and minor app versions, not the version code
  • The warnings are automatically re-enabled when a Robot Controller app from a new FTC season is installed
• Adds support for I2C transactions on the Expansion Hub / Control Hub without specifying a register address
  • See section 3 of the TI I2C spec
  • Calling these new methods when using Modern Robotics hardware will result in an UnsupportedOperationException
• Changes VuforiaLocalizer close() method to be public
• Adds support for TensorFlow v2 object detection models.
• Reduces ambiguity of the Self Inspect language and graphics.
• OnBotJava now warns about potentially unintended file overwrites
• Improves behavior of the Wi-Fi band and channel selector on the Manage webpage.

Bug fixes

• Fixes Robot Controller app crash on Android 9+ when a Driver Station connects
• Fixes issue where an Op Mode was responsible for calling shutdown on the TensorFlow TFObjectDetector. Now this is done automatically.
• Fixes Vuforia initialization blocks to allow user to chose AxesOrder. Updated relevant blocks sample opmodes.
• Fixes FtcRobotController issue #114 LED blocks and Java class do not work
• Fixes match logging for Op Modes that contain special characters in their names
• Fixes Driver Station OpMode controls becoming unresponsive if the Driver Station was set to the landscape layout and an OnBotJava build was triggered while an OpMode was running
• Fixes the Driver Station app closing itself when it is switched away from, or the screen is turned off
• Fixes "black swirl of doom" (Infinite "configuring Wi-Fi Direct" message) on older devices
• Updates the wiki comment on the OnBotJava intro page