v4.1.0

v4.1.0 (2024-09-16)

New features and additions for INTO THE DEEP.

Critical bug fixes

• The FieldTiles (FieldTile) custom WPIUnits unit has been updated from being defined as 23.6 inches to 24 inches
  • This change may potentially break previous implementations that relied on the nature of FieldTile being 23.6 inches
  • This unit was supposed to have a magnitude of 24, where the approximation was used by mistake
• TaskGroup timeout calculation has been fixed
  • Previously, task group timeout calculations were done all via the parallel calculation, which takes the highest value and sets it to the group timeout
  • However, this was short-sighted as other task groups like the sequential task group instead operate on a sum-of-all-timeouts
  • These incorrectly implemented timeouts have been fixed appropriately for all task groups, via a new super argument for the TaskGroup abstraction
• Scheduler runOnce() now behaves uniformly between subsystems and independent tasks
  • Before, runOnce() would queue once on a subsystem, and execute once independently
  • This made inconsistent behaviour between the two due to an internal flaw in the Scheduler
  • Now, runOnce() will guarantee one queue of a task from start to finish regardless of environment, putting emphasis on finishingIf() to end queued execution
• Exceptions no longer swallows the ForceStopException (oops)

Non-breaking changes

• AprilTagPoseEstimator now internally uses Kalman filters to fuse odometry and AprilTag readings
  • The Kalman gains are set to sane defaults and can be customised via setKalmanGains
  • Note! setHeadingEstimate now defaults to true, as the Kalman filter should now filter out the erratic heading readings
• BunyipsComponent and their derivatives (e.g. BunyipsSubsystem, Task) can now be constructed in the OpMode member fields
  • A constructor hook now supplies a partially constructed static reference to a BunyipsOpMode to allow instance calls to be made in the member fields
  • This partially constructed static instance is reassigned as usual at runtime to preserve normal behaviour
• The toShortString() (toString()) method attached to WPIUnits has been updated
  • Previously Unit instances that called toString() would provide the string with 3 decimal point scientific notation
  • This has been changed to simply show the magnitude in full for brevity
  • Instead of returning 1.234e+04 V/m, this method will now return 1234 V/m
  • This combines toLongString() without the full unit name
  • Previous scientific notation behaviour has been preserved in a new toScientificString() method
• BunyipsOpMode now exposes the previously protected methods onActiveLoop and setInitTask as public to allow static access
  • This allows you to add activeLoop snippets from anywhere, including the RobotConfig
• toString() of StartingPositions instances now internally call StartingPositions.getHTMLIfAvailable() to return an HTML-receiver-friendly output without having to call getHTMLIfAvailable() manually
  • The built-in name() method preserves the old behaviour of toString()
• FtcDashboard now shows more overlay data for certain AlignTo tasks, including vector powers for drive input
• Various JavaDoc and debugging statement updates
• OnceTask internal timeout has been increased to 10ms to allow interpretation of summed timeouts to work properly
• BunyipsOpMode onActiveLoop now runs all Runnables through the Exceptions handler to ensure exceptions do not hamper the rest of the loop
• Various uses of PIDFController in constructors have been replaced with the more relaxed PIDF interface to allow for a wider range of controllers
  • Note that since the coefficients are no longer constant, dynamically adjustable coefficients that were on the task/class level only apply to the underlying PIDF coefficients as they did previously
  • Other dynamically adjusted coefficients will need to be managed by yourself
• BlinkinLights now has methods for setting the default pattern to other patterns if desired, it is no longer final
  • To follow subsystem convention, BlinkinLights methods now return their instance for builder-like patterns
• Task.reset() now no-ops if the task has already been reset, preventing the multi-fire of onReset()
• BunyipsOpMode will now try to reset the RC lights via exit() if it can, since it still has access to hardware writes
• TelemetryMenu now spaces options slightly more to allow FtcDashboard users to read the menu easier

Bug fixes

• Hardcoded values of org.murraybridgebunyips.bunyipslib have been replaced with the BuildConfig.LIBRARY_PACKAGE_NAME constant for cleanliness
• Modern uses of out-of-range exceptions thrown in BunyipsLib now respect the domain of the bound
  • Future bounds-checking now uses Apache Math3 utilities, old checks will be left as-is
• Debugging statement for the onReady() call in AutonomousBunyipsOpMode now strips HTML from the selected OpMode
• setDefaultTask of BunyipsSubsystem now internally calls onSubsystem(this) to ensure default tasks are assigned to the current subsystem
• The PIDF interface now extends SystemController as they are always used together
• BunyipsOpMode no longer initially sleeps before evaluating the init-loop for the first time
• Exceptions thrown via Exceptions during init will now be recognised and alerted in the BunyipsOpMode init-cycle
• DualTelemetry.addData now accepts nullable data parameters to match other instances of adding telemetry data
• Fix a missing return from an early return in UserSelection

Additions

• New StartingConfiguration system to assist in robot starting configuration selection
  • This class has been designed to expand the StartingPositions enum following the 2024 season not being limited to simply two tiles per alliance
  • Instances of a StartingConfiguration.Position indicate the exact orientation/rotation/alliance/origin that the programmer has desired, rather than simply being on an alliance and left/right side
  • Construction of a starting position is done through a builder pattern (e.g. blueRight().tile(4)) with options for translation offset and rotation
  • These new configurations are designed to be used seamlessly with an AutonomousBunyipsOpMode through the setOpModes() method
    • The programmer now has a lot more information regarding the starting configuration of the robot, including a toFieldPose() method to extract the starting configuration in terms of the FTC Field Coordinate system
  • Position toString() method will return a HTML human-friendly output (for UserSelection)
    • Red Alliance, Right from StartingPositions becomes On Red, Tile #3 from RIGHT wall in a StartingConfiguration
  • Documentation and conversion methods have been added to both StartingPositions and the new class
  • StartingPositions is not planned to be deprecated to preserve backward compatibility
  • See the corresponding JavaDoc for more information
• New Filter class, which provides data and sensor filters
  • The newly added filters available through this class are a LowPass filter, 1D Kalman filter, and WeightedFusion filter
  • The Kalman filter is used internally in the AprilTagPoseEstimator
• New AlignToPointDriveTask, which uses a PID controller and feedforward to rotate to a field point as a TeleOp drive task
• New DebugMode, which is a Runnable built via a builder pattern to auto-halt or terminate OpModes based on various conditions
  • This includes watchdog timeouts, gamepad kill switches, and IMU roll detection
  • These features were designed for use in a debugging environment to quickly stop the robot if working with experimental code
• Motor now has configuration options for setting a power cache tolerance and power refresh rate
  • These utilities allow hardware writes to be optimised, but must be used with caution
  • See setPowerDeltaThreshold and setPowerRefreshRate of Motor
• AprilTagData is now populated with a new field robotPose which is new from SDK 10.0
  • This pose is returned directly from the processor and is calculated via the camera-robot pose provided in the AprilTag builder
• All RoadRunnerDrive instances now must include a setRotationPriorityWeightedDrivePower() override to run the weighted drive power calculation with rotational priority
  • Custom implementations of RoadRunnerDrive will need to extend this new method and implement it accordingly
  • CartesianMecanumDrive now exposes an internal static method to calculate rotation priority Mecanum poses
• IMUEx now has a setYawMultiplier() method, which can be used to set a multiplicative scale for IMU yaw readings
  • This is similar to the X and Y multipliers attached to tracking wheel localizers
• BunyipsOpMode now has a stopMotors() method which serves as a softer alternative to safeHaltHardware()
• Exceptions now stores a static list of all exceptions that have been thrown
  • The reset method for this instance has been appended to Storage.resetAllStaticFieldsForOpMode()
• BunyipsOpMode now has a static method ifRunning() which will execute the supplied Consumer<BunyipsOpMode> if BunyipsOpMode.isRunning() is true
• BunyipsOpMode now has a getInitTask() method to return an Optional<Runnable> of the currently respected init-task
• Text.removeHtml() created to regex out HTML tags and non-breaking spaces from strings
• Text.upper() and .lower() created for cross-compatibility reasons in Kotlin, which will uppercase and lowercase strings