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@bubner bubner released this 24 Sep 05:20
· 449 commits to master since this release
v5.0.0
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bubner Lucas Bubner
GPG key ID: 9DDA3188C9E93FEC
Learn about vigilant mode.

v5.0.0 (2024-09-24)

Integration of SDK v10.1 and season-related features.

Breaking changes

  • Trajectory mirroring of the RoadRunner utility class has been revamped by an enum
    • Instead of passing a simple boolean state to reflect across the alliance plane, options now exist to mirror symmetrically
    • The new MirrorMap types are now NONE, ALLIANCE_REFLECTION (default), and SYMMETRIC_MIRROR
    • The symmetric mirror profile was created as the INTO THE DEEP field is symmetric and using global reference frames is important for AprilTag repositioning
    • All old instances of pose mirroring contexts have been replaced with taking in a parameter of type MirrorMap
  • PhotonFTC (v3.0.2-ALPHA) by Eeshwar has been integrated as an included library
    • Teams may choose not to use Photon by removing the annotation from BunyipsOpMode and/or not including the library
    • Reread and follow the wiki installation instructions to bring in the new integrations, as well as making sure the versions match (for other lib. updates)
  • Processor instances no longer take a copy of the frame before sending it to the processing methods
    • For most cases, this should not change anything; this change was needed to be made for the new SDK v10.1 processors
    • There should now be less memory overhead for vision processing as a side effect
    • This is listed as a breaking change as it may affect certain processors
  • Fixed misnamed processor thresholds for all CENTERSTAGE Pixel colour processors, the thresholds were called YCBCR instead of YCRCB

Non-breaking changes

  • Various docs updates and migration to the wiki
  • DualTelemetry now displays the appropriate unit of Hz instead of l/s once the loop times are too fast to be represented as milliseconds
  • The slow loop speed warnings of DualTelemetry now don't show up during the init-phase when used in a LinearOpMode derivative
    • The init-phase is the heavy processing of the OpMode and loop times don't matter during init
  • Processor.getCameraDimensions() is now a public method
  • Ramping.DcMotor now extends DcMotorImplEx instead of DcMotorImpl

Bug fixes

  • RoadRunnerDrive watchdog timeouts no longer log in warnings but instead debug logs
  • Fixed the separator in TelemetryMenu, there is now a gray bar at the start of every menu entry for ease of use on FtcDashboard
  • RoadRunnerDrive instances now cache their run mode during the constant setMode() calls in the update loop
    • This reduces redundant invocations of setMode()
    • It is important to only dynamically modify the drivetrain run mode manually through the RoadRunnerDrive instance instead of the motors themselves, due to the caching

Additions

  • Update to SDK v10.1; the new recommended SDK version is now v10.1
    • New ColourLocator processor that wraps a ColorBlobLocatorProcessor
    • New ColourSensor processor that wraps a PredominantColorProcessor
    • Appropriate data classes with filtering methods are ColourBlob and ColourSample, appropriately
    • Since these processors are instance-based instead of abstract, their IDs are represented by coloursensor0, coloursensor1, etc. and colourlocator0, colourlocator1 etc. depending on the number of instances
      • These IDs are important to know for FtcDashboard switching or processor differentiation
    • The BunyipsLib integration of these processors makes constant FtcDashboard viewing available and reduces unnecessary canvas overhead
    • These new processors work the same as the pre-existing ColourThreshold and AprilTag processors
    • The legacy ColourThreshold and MultiColourThreshold will not be deprecated

Notes

  • RoadRunner v1.0.0 is not planned for integration as of now
    • This is because of the ties RoadRunner v0.5.6 has with the path generator, visualiser, and utilities that don't bring any significant value to BunyipsLib upon migration
    • Command-based features of RoadRunner v1.0.0 are already implemented as part of the Scheduler and Task system
    • Time is better spent for BunyipsLib development working on the wiki and new features rather than refactoring old but still useful systems
    • If support for RoadRunner v1.0.0 becomes more viable to integrate when external tools are updated to support RR v1.0.0, integration may be scheduled as another major release
  • StartingConfigurations assumes a square field, where the blue alliance is opposite the red alliance
    • In the event a future season does have a diamond field (it has not been the case for a while), then an integration may be made to support this
    • It is not of priority now or for this season, so it is not scheduled for implementation and won't be reconsidered until next season
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