Version 9.0 (20230830-154348)

Breaking Changes

• Removes Vuforia
• Fields in AprilTagDetection and AprilTagPose(ftc/raw) objects are now final
• VisionPortal builder method setCameraMonitorViewId() has been renamed to setLiveViewContainerId() and enableCameraMonitoring() has been renamed to enableLiveView()

Enhancements

• Adds support for the DFRobot HuskyLens Vision Sensor.
• Blocks teams can now perform webcam calibration.
  • Added a Block for System.currentTimeMillis (under Utilities/Time)
  • Added a Block for VisionPortal.saveNextFrameRaw (under Vision/VisionPortal)
  • Added a new sample Blocks OpMode called UtilityCameraFrameCapture.
• The RobotDriveByGyro sample has been updated to use the new universal IMU interface. It now supports both IMU types.
• Removed some error-prone ElapsedTime Blocks from the Blocks editor's toolbox. This is not a breaking change: old Blocks OpModes that use these Blocks will still function, both in the Blocks editor and at runtime.
• Standardizes on the form "OpMode" for the term OpMode.
  • The preferred way to refer to OpModes that specifically extend LinearOpMode (including Blocks OpModes) is "linear OpMode".
  • The preferred way to refer to OpModes that specifically extend OpMode directly is "iterative OpMode".
• Overhauls OpMode and LinearOpMode Javadoc comments to be easier to read and include more detail.
• Makes minor enhancements to Java samples
  • Javadoc comments in samples that could be rendered badly in Android Studio have been converted to standard multi-line comments
  • Consistency between samples has been improved
  • The SensorDigitalTouch sample has been replaced with a new SensorTouch sample that uses the TouchSensor interface instead of DigitalChannel.
  • The ConceptCompassCalibration, SensorMRCompass, and SensorMRIRSeeker samples have been deleted, as they are not useful for modern FTC competitions.

Bug Fixes

• Fixes a bug which prevented PlayStation gamepads from being used in bluetooth mode. Bluetooth is NOT legal for competition but may be useful to allow a DS device to be used while charging, or at an outreach event.
• Fixes a bug where a Blocks OpMode's Date Modified value can change to December 31, 1969, if the Control Hub is rebooted while the Blocks OpMode is being edited.
• Fixes the automatic TeleOp preselection feature (was broken in 8.2)
• Fixes a bug where passing an integer number such as 123 to the Telemetry.addData block that takes a number shows up as 123.0 in the telemetry.
• Fixes OnBotJava autocomplete issues:
  • Autocomplete would incorrectly provide values for the current class when autocompleting a local variable
  • hardwareMap autocomplete would incorrectly include lambda class entries
• Fixes OnBotJava not automatically importing classes.
• Fixes OnBotJava tabs failing to close when their file is deleted.
• Fixes a project view refresh not happening when a file is renamed in OnBotJava.
• Fixes the "Download" context menu item for external libraries in the OnBotJava interface.
• Fixes issue where Driver Station telemetry would intermittently freeze when set to Monospace mode.
• Fixes performance regression for certain REV Hub operations that was introduced in version 8.2.
• Fixes TagID comparison logic in DriveToTag samples.