Update samples to SDK V10.1.1

.github/CONTRIBUTING.md

@@ -18,7 +18,7 @@ If what you've read so far makes little sense, there are some very good git lear
 [Git Book](https://git-scm.com/book/en/v2)  
 [Interactive Git Tutorial](https://try.github.io)
 
-##### Guidlines for experienced GIT users.
+### Guidlines for experienced GIT users.
 
 If you are absolutely certain that you want to push the big green button above, read on.  Otherwise back _slowly away from keyboard_.
 
@@ -38,9 +38,9 @@ This section guides you through filing a bug report.  The better the report the
 
 #### Before submitting a bug report
 
-- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
+- Check the [forums](http://ftcforum.firstinspires.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
 
-- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported.  If so, add a comment to the existing issue instead of creating a new one.
+- Perform a search of current [issues](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues) to see if the problem has already been reported.  If so, add a comment to the existing issue instead of creating a new one.
 
 #### How Do I Submit A (Good) Bug Report?
 
@@ -65,4 +65,4 @@ FIRST volunteers are awesome.  You all have great ideas and we want to hear them
 
 Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities.
 
-The best way to get momentum behind new features is to post a description of your idea in the forums.  Build community support for it.  The FTC Technology Team monitors the forums.  We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.
+The best way to get momentum behind new features is to post a description of your idea in the discussions section of this repository.  Build community support for it.  The FTC Technology Team monitors the discussions.  We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.

.gitignore

@@ -9,8 +9,9 @@
 # Files for the ART/Dalvik VM
 *.dex
 
-# Java class files
+# Java/JDK files
 *.class
+*.hprof
 
 # Generated files
 bin/
@@ -40,17 +41,10 @@ captures/
 
 # IntelliJ
 *.iml
-.idea/workspace.xml
-.idea/tasks.xml
-.idea/gradle.xml
-.idea/assetWizardSettings.xml
-.idea/dictionaries
-.idea/libraries
-# Android Studio 3 in .gitignore file.
-.idea/caches
-.idea/modules.xml
-# Comment next line if keeping position of elements in Navigation Editor is relevant for you
-.idea/navEditor.xml
+.idea/
+
+# For Mac users
+.DS_Store
 
 # Keystore files
 # Uncomment the following lines if you do not want to check your keystore files in.
@@ -84,4 +78,4 @@ lint/intermediates/
 lint/generated/
 lint/outputs/
 lint/tmp/
-# lint/reports/
+# lint/reports/

FtcRobotController/build.gradle

@@ -8,18 +8,23 @@ apply plugin: 'com.android.library'
 android {
 
     defaultConfig {
-        minSdkVersion 23
+        minSdkVersion 24
         //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
         buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
     }
 
-    compileSdkVersion 29
+    buildFeatures {
+        buildConfig = true
+    }
+
+    compileSdkVersion 30
 
     compileOptions {
-        sourceCompatibility JavaVersion.VERSION_1_7
-        targetCompatibility JavaVersion.VERSION_1_7
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
     }
+    namespace = 'com.qualcomm.ftcrobotcontroller'
 }
 
 apply from: '../build.dependencies.gradle'

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,16 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-          package="com.qualcomm.ftcrobotcontroller"
-          android:versionCode="42"
-          android:versionName="7.0">
+    android:versionCode="57"
+          android:versionName="10.1.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 
   <application
     android:allowBackup="true"
     android:largeHeap="true"
-    android:extractNativeLibs="true"
     android:icon="@drawable/ic_launcher"
     android:label="@string/app_name"
     android:theme="@style/AppThemeRedRC"

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

@@ -0,0 +1,167 @@
+/* Copyright (c) 2021 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/*
+ * This file contains an example of a Linear "OpMode".
+ * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
+ * The names of OpModes appear on the menu of the FTC Driver Station.
+ * When a selection is made from the menu, the corresponding OpMode is executed.
+ *
+ * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
+ * This code will work with either a Mecanum-Drive or an X-Drive train.
+ * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
+ * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
+ *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
+ * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
+ * Each motion axis is controlled by one Joystick axis.
+ *
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
+ * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
+ * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
+ *
+ * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
+ * the direction of all 4 motors (see code below).
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
+ */
+
+@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
+@Disabled
+public class BasicOmniOpMode_Linear extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftFrontDrive = null;
+    private DcMotor leftBackDrive = null;
+    private DcMotor rightFrontDrive = null;
+    private DcMotor rightBackDrive = null;
+
+    @Override
+    public void runOpMode() {
+
+        // Initialize the hardware variables. Note that the strings used here must correspond
+        // to the names assigned during the robot configuration step on the DS or RC devices.
+        leftFrontDrive  = hardwareMap.get(DcMotor.class, "left_front_drive");
+        leftBackDrive  = hardwareMap.get(DcMotor.class, "left_back_drive");
+        rightFrontDrive = hardwareMap.get(DcMotor.class, "right_front_drive");
+        rightBackDrive = hardwareMap.get(DcMotor.class, "right_back_drive");
+
+        // ########################################################################################
+        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
+        // ########################################################################################
+        // Most robots need the motors on one side to be reversed to drive forward.
+        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
+        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
+        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
+        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
+        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
+        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
+        leftFrontDrive.setDirection(DcMotor.Direction.REVERSE);
+        leftBackDrive.setDirection(DcMotor.Direction.REVERSE);
+        rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
+        rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
+
+        // Wait for the game to start (driver presses START)
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            double max;
+
+            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
+            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+            double lateral =  gamepad1.left_stick_x;
+            double yaw     =  gamepad1.right_stick_x;
+
+            // Combine the joystick requests for each axis-motion to determine each wheel's power.
+            // Set up a variable for each drive wheel to save the power level for telemetry.
+            double leftFrontPower  = axial + lateral + yaw;
+            double rightFrontPower = axial - lateral - yaw;
+            double leftBackPower   = axial - lateral + yaw;
+            double rightBackPower  = axial + lateral - yaw;
+
+            // Normalize the values so no wheel power exceeds 100%
+            // This ensures that the robot maintains the desired motion.
+            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+            max = Math.max(max, Math.abs(leftBackPower));
+            max = Math.max(max, Math.abs(rightBackPower));
+
+            if (max > 1.0) {
+                leftFrontPower  /= max;
+                rightFrontPower /= max;
+                leftBackPower   /= max;
+                rightBackPower  /= max;
+            }
+
+            // This is test code:
+            //
+            // Uncomment the following code to test your motor directions.
+            // Each button should make the corresponding motor run FORWARD.
+            //   1) First get all the motors to take to correct positions on the robot
+            //      by adjusting your Robot Configuration if necessary.
+            //   2) Then make sure they run in the correct direction by modifying the
+            //      the setDirection() calls above.
+            // Once the correct motors move in the correct direction re-comment this code.
+
+            /*
+            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            */
+
+            // Send calculated power to wheels
+            leftFrontDrive.setPower(leftFrontPower);
+            rightFrontDrive.setPower(rightFrontPower);
+            leftBackDrive.setPower(leftBackPower);
+            rightBackDrive.setPower(rightBackPower);
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+            telemetry.update();
+        }
+    }}