V2.3 release

FtcRobotController/src/main/AndroidManifest.xml

@@ -2,11 +2,12 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
           package="com.qualcomm.ftcrobotcontroller"
-          android:versionCode="12"
-          android:versionName="2.2">
+          android:versionCode="13"
+          android:versionName="2.3">
 
   <application
     android:allowBackup="true"
+    android:largeHeap="true"
     android:icon="@drawable/ic_launcher"
     android:label="@string/app_name"
     android:theme="@style/AppTheme" >

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptCompassCalibration.java

@@ -71,7 +71,7 @@ public class ConceptCompassCalibration extends LinearOpMode {
     static final double     CAL_TIME_SEC  = 20;
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
 
         /* Initialize the drive system variables.
          * The init() method of the hardware class does all the work here
@@ -104,8 +104,7 @@ public void runOpMode() throws InterruptedException {
         // run until time expires OR the driver presses STOP;
         runtime.reset();
         while (opModeIsActive() && (runtime.time() < CAL_TIME_SEC)) {
-
-            idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
+            idle();
         }
 
         // Stop all motors and turn off claibration
@@ -123,6 +122,5 @@ public void runOpMode() throws InterruptedException {
         else
             telemetry.addData("Compass", "Calibrate Passed.");
         telemetry.update();
-
     }
 }

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptDIMAsIndicator.java

@@ -37,7 +37,7 @@ public class ConceptDIMAsIndicator extends LinearOpMode {
     DeviceInterfaceModule   dim;
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
 
         // Connect to motor (Assume standard left wheel)
         // Change the text in quotes to match any motor name on your robot.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptI2cAddressChange.java

@@ -99,7 +99,7 @@ public class ConceptI2cAddressChange extends LinearOpMode {
   DeviceInterfaceModule dim;
 
   @Override
-  public void runOpMode() throws InterruptedException {
+  public void runOpMode() {
 
     // set up the hardware devices we are going to use
     dim = hardwareMap.deviceInterfaceModule.get("dim");

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRampMotorSpeed.java

@@ -9,7 +9,7 @@
  * This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
  * The code is structured as a LinearOpMode
  *
- * This code assumes a DC motor configured with the name "left motor" as is found on a pushbot.
+ * This code assumes a DC motor configured with the name "left_drive" as is found on a pushbot.
  *
  * INCREMENT sets how much to increase/decrease the power each cycle
  * CYCLE_MS sets the update period.
@@ -33,11 +33,11 @@ public class ConceptRampMotorSpeed extends LinearOpMode {
 
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
 
         // Connect to motor (Assume standard left wheel)
         // Change the text in quotes to match any motor name on your robot.
-        motor = hardwareMap.dcMotor.get("left motor");
+        motor = hardwareMap.dcMotor.get("left_drive");
 
         // Wait for the start button
         telemetry.addData(">", "Press Start to run Motors." );

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRegisterOpModes.java

@@ -86,7 +86,10 @@ public static void registerMyOpModes(OpModeManager manager) {
     // manager.register("K9 Telop",               K9botTeleopTank_Linear.class);
 
     // Sensor Samples
+    // manager.register("AdaFruit IMU",           SensorAdafruitIMU.class);
+    // manager.register("AdaFruit IMU Cal",       SensorAdafruitIMUCalibration.class);
     // manager.register("AdaFruit Color",         SensorAdafruitRGB.class);
+    // manager.register("DIM DIO",                SensorDIO.class);
     // manager.register("HT Color",               SensorHTColor.class);
     // manager.register("LEGO Light",             SensorLEGOLight.class);
     // manager.register("LEGO Touch",             SensorLEGOTouch.class);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptScanServo.java

@@ -36,11 +36,11 @@ public class ConceptScanServo extends LinearOpMode {
 
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
 
-        // Connect to servo (Assume PushBot Left Claw)
+        // Connect to servo (Assume PushBot Left Hand)
         // Change the text in quotes to match any servo name on your robot.
-        servo = hardwareMap.servo.get("left claw");
+        servo = hardwareMap.servo.get("left_hand");
 
         // Wait for the start button
         telemetry.addData(">", "Press Start to scan Servo." );

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTelemetry.java

@@ -52,8 +52,7 @@ are permitted (subject to the limitations in the disclaimer below) provided that
  */
 @Autonomous(name = "Concept: Telemetry", group = "Concept")
 @Disabled
-public class ConceptTelemetry extends LinearOpMode
-    {
+public class ConceptTelemetry extends LinearOpMode  {
     /** keeps track of the line of the poem which is to be emitted next */
     int poemLine = 0;
 
@@ -83,9 +82,9 @@ public class ConceptTelemetry extends LinearOpMode
         "The teacher did reply.",
         "",
         ""
-        };
+    };
 
-    @Override public void runOpMode() throws InterruptedException {
+    @Override public void runOpMode() {
 
         /* we keep track of how long it's been since the OpMode was started, just
          * to have some interesting data to show */
@@ -107,7 +106,7 @@ public class ConceptTelemetry extends LinearOpMode
             telemetry.addData("time", "%.1f seconds", opmodeRunTime.seconds());
             telemetry.update();
             idle();
-            }
+        }
 
         // Ok, we've been given the ok to go
 
@@ -123,7 +122,7 @@ public class ConceptTelemetry extends LinearOpMode
         telemetry.addData("voltage", "%.1f volts", new Func<Double>() {
             @Override public Double value() {
                 return getBatteryVoltage();
-                }
+            }
             });
 
         // Reset to keep some timing stats for the post-'start' part of the opmode
@@ -136,7 +135,7 @@ public class ConceptTelemetry extends LinearOpMode
             // Emit poetry if it's been a while
             if (poemElapsed.seconds() > sPoemInterval) {
                 emitPoemLine();
-                }
+            }
 
             // As an illustration, show some loop timing information
             telemetry.addData("loop count", loopCount);
@@ -158,16 +157,15 @@ public class ConceptTelemetry extends LinearOpMode
 
             /** Update loop info and play nice with the rest of the {@link Thread}s in the system */
             loopCount++;
-            idle();
-            }
         }
+    }
 
     // emits a line of poetry to the telemetry log
     void emitPoemLine() {
         telemetry.log().add(poem[poemLine]);
         poemLine = (poemLine+1) % poem.length;
         poemElapsed.reset();
-        }
+    }
 
     // Computes the current battery voltage
     double getBatteryVoltage() {
@@ -176,8 +174,8 @@ void emitPoemLine() {
             double voltage = sensor.getVoltage();
             if (voltage > 0) {
                 result = Math.min(result, voltage);
-                }
             }
-        return result;
         }
+        return result;
     }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaNavigation.java

@@ -98,7 +98,7 @@ public class ConceptVuforiaNavigation extends LinearOpMode {
      */
     VuforiaLocalizer vuforia;
 
-    @Override public void runOpMode() throws InterruptedException {
+    @Override public void runOpMode() {
         /**
          * Start up Vuforia, telling it the id of the view that we wish to use as the parent for
          * the camera monitor feedback; if no camera monitor feedback is desired, use the parameterless
@@ -319,7 +319,6 @@ public class ConceptVuforiaNavigation extends LinearOpMode {
                 telemetry.addData("Pos", "Unknown");
             }
             telemetry.update();
-            idle();
         }
     }
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwareK9bot.java

@@ -14,8 +14,8 @@
  * This hardware class assumes the following device names have been configured on the robot:
  * Note:  All names are lower case and some have single spaces between words.
  *
- * Motor channel:  Left  drive motor:        "left motor"
- * Motor channel:  Right drive motor:        "right motor"
+ * Motor channel:  Left  drive motor:        "left_drive"
+ * Motor channel:  Right drive motor:        "right_drive"
  * Servo channel:  Servo to raise/lower arm: "arm"
  * Servo channel:  Servo to open/close claw: "claw"
  *
@@ -52,8 +52,8 @@ public void init(HardwareMap ahwMap) {
         hwMap = ahwMap;
 
         // Define and Initialize Motors
-        leftMotor   = hwMap.dcMotor.get("left motor");
-        rightMotor  = hwMap.dcMotor.get("right motor");
+        leftMotor   = hwMap.dcMotor.get("left_drive");
+        rightMotor  = hwMap.dcMotor.get("right_drive");
         leftMotor.setDirection(DcMotor.Direction.REVERSE);
 
         // Set all motors to zero power
@@ -79,15 +79,19 @@ public void init(HardwareMap ahwMap) {
      * The function looks at the elapsed cycle time, and sleeps for the remaining time interval.
      *
      * @param periodMs  Length of wait cycle in mSec.
-     * @throws InterruptedException
      */
-    public void waitForTick(long periodMs)  throws InterruptedException {
+    public void waitForTick(long periodMs) {
 
         long  remaining = periodMs - (long)period.milliseconds();
 
         // sleep for the remaining portion of the regular cycle period.
-        if (remaining > 0)
-            Thread.sleep(remaining);
+        if (remaining > 0) {
+            try {
+                Thread.sleep(remaining);
+            } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+            }
+        }
 
         // Reset the cycle clock for the next pass.
         period.reset();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbot.java

@@ -80,15 +80,19 @@ public void init(HardwareMap ahwMap) {
      * The function looks at the elapsed cycle time, and sleeps for the remaining time interval.
      *
      * @param periodMs  Length of wait cycle in mSec.
-     * @throws InterruptedException
      */
-    public void waitForTick(long periodMs) throws InterruptedException {
+    public void waitForTick(long periodMs) {
 
         long  remaining = periodMs - (long)period.milliseconds();
 
         // sleep for the remaining portion of the regular cycle period.
-        if (remaining > 0)
-            Thread.sleep(remaining);
+        if (remaining > 0) {
+            try {
+                Thread.sleep(remaining);
+            } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+            }
+        }
 
         // Reset the cycle clock for the next pass.
         period.reset();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/HardwarePushbotMatrix.java

@@ -20,11 +20,11 @@
  *
  * Matrix Controller has been assigned the name:  "matrix controller"
  *
- * Motor channel:  Left  drive motor:        "left motor"
- * Motor channel:  Right drive motor:        "right motor"
- * Motor channel:  Manipulator drive motor:  "arm motor"
- * Servo channel:  Servo to open left claw:  "left claw"
- * Servo channel:  Servo to open right claw: "right claw"
+ * Motor channel:  Left  drive motor:        "left_drive"
+ * Motor channel:  Right drive motor:        "right_drive"
+ * Motor channel:  Manipulator drive motor:  "left_arm"
+ * Servo channel:  Servo to open left claw:  "left_hand"
+ * Servo channel:  Servo to open right claw: "right_hand"
  *
  * In addition, the Matrix Controller has been assigned the name:  "matrix controller"
  */

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/K9botTeleopTank_Linear.java

@@ -66,7 +66,7 @@ public class K9botTeleopTank_Linear extends LinearOpMode {
     final double    ARM_SPEED       = 0.01 ;                            // sets rate to move servo
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
         double left;
         double right;
 
@@ -118,7 +118,6 @@ else if (gamepad1.b)
 
             // Pause for metronome tick.  40 mS each cycle = update 25 times a second.
             robot.waitForTick(40);
-            idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
         }
     }
 }

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/PushbotAutoDriveByEncoder_Linear.java

@@ -82,7 +82,7 @@ public class PushbotAutoDriveByEncoder_Linear extends LinearOpMode {
     static final double     TURN_SPEED              = 0.5;
 
     @Override
-    public void runOpMode() throws InterruptedException {
+    public void runOpMode() {
 
         /*
          * Initialize the drive system variables.
@@ -134,7 +134,7 @@ public void runOpMode() throws InterruptedException {
      */
     public void encoderDrive(double speed,
                              double leftInches, double rightInches,
-                             double timeoutS) throws InterruptedException {
+                             double timeoutS) {
         int newLeftTarget;
         int newRightTarget;
 
@@ -167,9 +167,6 @@ public void encoderDrive(double speed,
                                             robot.leftMotor.getCurrentPosition(),
                                             robot.rightMotor.getCurrentPosition());
                 telemetry.update();
-
-                // Allow time for other processes to run.
-                idle();
             }
 
             // Stop all motion;