FTC RobotController（SDK） v8.2发布

FTC RobotController（SDK） v8.2发布

张北一 -
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Version 8.2 (20230707-131020)

Breaking changes

  • Non-linear (iterative) Op Modes are no longer allowed to manipulate actuators in their stop() method. Attempts to do so will be ignored and logged.
    • When an Op Mode attempts to illegally manipulate an actuator, the Robot Controller will print a log message including the text CANCELLED_FOR_SAFETY.
    • Additionally, LinearOpModes are no longer able to regain the ability to manipulate actuators by removing their thread's interrupt or using another thread.
  • Removes support for Android version 6.0 (Marshmallow). The minSdkVersion is now 24.
  • Increases the Robocol version.
    • This means an 8.2 or later Robot Controller or Driver Station will not be able to communicate with an 8.1 or earlier Driver Station or Robot Controller.
    • If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
  • FTC_FieldCoordinateSystemDefinition.pdf has been moved. It is still in the git history, but has been removed from the git snapshot corresponding with the 8.2 tag. The official version now lives at Field Coordinate System.
  • LynxUsbDevice.addConfiguredModule() and LynxUsbDevice.getConfiguredModule() have been replaced with LynxUsbDevice.getOrAddModule().

New features

  • Adds new VisionPortal API for computer vision
    • This API may be subject to change for final kickoff release!
    • Several new samples added.
    • Adds support for detecting AprilTags.
    • VisionPortal is the new entry point for both AprilTag and TFOD processing.
    • Vuforia will be removed in a future release.
    • Updated TensorFlow dependencies.
    • Added support for webcam camera controls to blocks.
    • Previous blocks for Vuforia and TensorFlow Object Detection are obsolete.
  • Related documentation for associated technologies can be found at
  • Adds Driver Station support for Logitech Dual Action and Sony PS5 DualSense gamepads.
    • This does not include support for the Sony PS5 DualSense Edge gamepad.
    • Always refer to Game Manual 1 to determine gamepad legality in competition.
  • Adds support for MJPEG payload streaming to UVC driver (external JPEG decompression routine required for use).
  • Shows a hint on the Driver Station UI about how to bind a gamepad when buttons are pressed or the sticks are moved on an unbound gamepad.
  • Adds option for fullscreening "Camera Stream" on Driver Station.
  • OnBotJava source code is automatically saved as a ZIP file on every build with a rolling window of the last 30 builds kept; allows recovering source code from previous builds if code is accidentally deleted or corrupted.
  • Adds support for changing the addresses of Expansion Hubs that are not connected directly via USB.
    • The Expansion Hub Address Change screen now has an Apply button that changes the addresses without leaving the screen.
    • Addresses that are assigned to other hubs connected to the same USB connection or Control Hub are no longer able to be selected.
  • Increases maximum size of Blocks inline comments to 100 characters
  • Saves position of open Blocks comment balloons
  • Adds new AprilTag Driving samples: RobotDriveToAprilTagTank & RobotDriveToAprilTagOmni
  • Adds Sample to illustrate optimizing camera exposure for AprilTags: ConceptAprilTagOptimizeExposure

Bug Fixes

  • Corrects inspection screen to report app version using the SDK version defined in the libraries instead of the version specified in AndroidManifest.xml. This corrects the case where the app could show matching versions numbers to the user but still state that the versions did not match.
    • If the version specified in AndroidManifest.xml does not match the SDK version, an SDK version entry will be displayed on the Manage webpage.
  • Fixes no error being displayed when saving a configuration file with duplicate names from the Driver Station.
  • Fixes a deadlock in the UVC driver which manifested in OpenFTC/EasyOpenCV#57.
  • Fixes a deadlock in the UVC driver that could occur when hot-plugging cameras.
  • Fixes UVC driver compatibility with Arducam OV9281 global shutter camera.
  • Fixes Emergency Stop condition when an OnBotJava build with duplicate Op Mode names occurs.
  • Fixes known causes of "Attempted use of a closed LynxModule instance" logspam.
  • Fixes the visual identification LED pattern when configuring Expansion Hubs connected via RS-485.