FTCLib · JIceberg · Feb 22, 2023 · Jan 11, 2023 · Jan 11, 2023 · Jan 12, 2023
diff --git a/core/build.gradle b/core/build.gradle
@@ -4,7 +4,7 @@ apply plugin: 'kotlin-android'
 ext {
     PUBLISH_GROUP_ID = 'com.arcrobotics'
     PUBLISH_ARTIFACT_ID = 'ftclib'
-    PUBLISH_VERSION = '2.1.0'
+    PUBLISH_VERSION = '2.1.1'
 }
 
 android {
@@ -16,7 +16,7 @@ android {
         minSdkVersion 24
         targetSdkVersion 28
         versionCode 1
-        versionName 'v2.1.0'
+        versionName 'v2.1.1'
 
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         consumerProguardFiles 'consumer-rules.pro'

diff --git a/core/dependencies.gradle b/core/dependencies.gradle
@@ -23,7 +23,7 @@ android {
         minSdkVersion 24
         targetSdkVersion 28
         versionCode 1
-        versionName "2.1.0"
+        versionName "2.1.1"
 
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         consumerProguardFiles "consumer-rules.pro"

diff --git a/core/src/main/java/com/arcrobotics/ftclib/command/CommandBase.java b/core/src/main/java/com/arcrobotics/ftclib/command/CommandBase.java
@@ -38,7 +38,7 @@ public Set<Subsystem> getRequirements() {
     }
 
     public String getName() {
-        return this.getClass().getSimpleName();
+        return m_name;
     }
 
     public void setName(String name) {

diff --git a/core/src/main/java/com/arcrobotics/ftclib/command/RepeatCommand.java b/core/src/main/java/com/arcrobotics/ftclib/command/RepeatCommand.java
@@ -0,0 +1,73 @@
+/*
+ * ----------------------------------------------------------------------------
+ *  Copyright (c) 2018-2019 FIRST. All Rights Reserved.
+ *  Open Source Software - may be modified and shared by FRC teams. The code
+ *  must be accompanied by the FIRST BSD license file in the root directory of
+ *  the project.
+ * ----------------------------------------------------------------------------
+ */
+
+package com.arcrobotics.ftclib.command;
+
+import static com.arcrobotics.ftclib.command.CommandGroupBase.registerGroupedCommands;
+import static com.arcrobotics.ftclib.command.CommandGroupBase.requireUngrouped;
+
+/**
+ * A command that runs another command repeatedly, restarting it when it ends, until this command is
+ * interrupted. While this class does not extend {@link CommandGroupBase}, it is still considered a
+ * CommandGroup, as it allows one to compose another command within it; the command instances that
+ * are passed to it cannot be added to any other groups, or scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * @author Ryan
+ */
+public class RepeatCommand extends CommandBase{
+
+    protected final Command m_command;
+
+    /**
+     * Creates a new RepeatCommand. Will run another command repeatedly, restarting it whenever it
+     * ends, until this command is interrupted.
+     *
+     * @param command the command to run repeatedly
+     */
+    public RepeatCommand(Command command) {
+        requireUngrouped(command);
+        registerGroupedCommands(command);
+        m_command = command;
+        m_requirements.addAll(command.getRequirements());
+    }
+
+
+    @Override
+    public void initialize() {
+        m_command.initialize();
+    }
+
+
+    @Override
+    public void execute() {
+        m_command.execute();
+        if (m_command.isFinished()) {
+            // restart command
+            m_command.end(false);
+            m_command.initialize();
+        }
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        m_command.end(interrupted);
+    }
+
+    @Override
+    public boolean runsWhenDisabled() {
+        return m_command.runsWhenDisabled();
+    }
+}
diff --git a/core/src/main/java/com/arcrobotics/ftclib/command/TrapezoidProfileCommand.java b/core/src/main/java/com/arcrobotics/ftclib/command/TrapezoidProfileCommand.java
@@ -0,0 +1,64 @@
+/*
+ * ----------------------------------------------------------------------------
+ *  Copyright (c) 2018-2019 FIRST. All Rights Reserved.
+ *  Open Source Software - may be modified and shared by FRC teams. The code
+ *  must be accompanied by the FIRST BSD license file in the root directory of
+ *  the project.
+ * ----------------------------------------------------------------------------
+ */
+
+package com.arcrobotics.ftclib.command;
+
+import com.arcrobotics.ftclib.trajectory.TrapezoidProfile;
+import com.arcrobotics.ftclib.util.Timing;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+
+import java.util.function.Consumer;
+
+/**
+ * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
+ *
+ * @author Ryan
+ */
+
+public class TrapezoidProfileCommand extends CommandBase {
+
+    private final TrapezoidProfile m_profile;
+    private final Consumer<TrapezoidProfile.State> m_output;
+
+
+    private final ElapsedTime m_timer = new ElapsedTime();
+
+
+    /**
+     * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
+     * Output will be piped to the provided consumer function.
+     *
+     * @param profile The motion profile to execute.
+     * @param output The consumer for the profile output.
+     * @param requirements The subsystems required by this command.
+     */
+    public TrapezoidProfileCommand(
+            TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Subsystem... requirements){
+        m_profile = profile;
+        m_output = output;
+        addRequirements(requirements);
+    }
+
+
+    @Override
+    public void initialize(){
+        m_timer.reset();
+    }
+
+    @Override
+    public void execute() {
+        m_output.accept(m_profile.calculate(m_timer.seconds()));
+    }
+
+    @Override
+    public boolean isFinished() {
+        return m_timer.seconds() >= m_profile.totalTime();
+    }
+}
diff --git a/core/src/main/java/com/arcrobotics/ftclib/gamepad/TriggerReader.java b/core/src/main/java/com/arcrobotics/ftclib/gamepad/TriggerReader.java
@@ -15,6 +15,11 @@ public class TriggerReader implements KeyReader {
      * Current state of the button
      **/
     private boolean currState;
+
+    /**
+     * Current threshold
+     **/
+    private double threshold;
 
     /**
      * Initializes controller variables
@@ -23,15 +28,20 @@ public class TriggerReader implements KeyReader {
      * @param trigger The controller button
      **/
     public TriggerReader(GamepadEx gamepad, GamepadKeys.Trigger trigger) {
+        this(gamepad, trigger, 0.5);
+    }
+
+    public TriggerReader(GamepadEx gamepad, GamepadKeys.Trigger trigger, double threshold) {
         this.gamepad = gamepad;
         this.trigger = trigger;
-
-        if (this.gamepad.getTrigger(trigger) > 0.5) {
+        this.threshold = threshold;
+
+        if (this.gamepad.getTrigger(trigger) > this.threshold) {
             currState = true;
         } else {
             currState = false;
         }
-
+        
         lastState = currState;
     }
 
@@ -40,7 +50,7 @@ public TriggerReader(GamepadEx gamepad, GamepadKeys.Trigger trigger) {
      **/
     public void readValue() {
         lastState = currState;
-        if (this.gamepad.getTrigger(trigger) > 0.5) {
+        if (this.gamepad.getTrigger(trigger) > this.threshold) {
             currState = true;
         } else {
             currState = false;

diff --git a/core/src/main/java/com/arcrobotics/ftclib/hardware/SensorDistanceEx.java b/core/src/main/java/com/arcrobotics/ftclib/hardware/SensorDistanceEx.java
@@ -74,10 +74,7 @@ public DistanceTarget(DistanceUnit unit, double target, double threshold, String
          */
         public boolean atTarget(double currentDistance) {
             currentDistance = unit.fromUnit(unit, currentDistance);
-            double clippedRange = Range.clip(currentDistance, currentDistance - threshold, currentDistance + threshold);
-            if (clippedRange >= currentDistance + threshold)
-                return false;
-            else return !(clippedRange <= currentDistance + threshold);
+            return (currentDistance >= target - threshold) && (currentDistance <= target + threshold);
         }
 
         /**

diff --git a/core/src/main/java/com/arcrobotics/ftclib/hardware/motors/Motor.java b/core/src/main/java/com/arcrobotics/ftclib/hardware/motors/Motor.java
@@ -335,12 +335,21 @@ public boolean atTargetPosition() {
     }
 
     /**
-     * Resets the encoder.
+     * Resets the external encoder wrapper value.
      */
     public void resetEncoder() {
         encoder.reset();
     }
 
+    /**
+     * Resets the internal position of the motor.
+     */
+    public void stopAndResetEncoder() {
+        encoder.resetVal = 0;
+        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
     /**
      * @return the velocity coefficients
      */

diff --git a/core/src/main/java/com/arcrobotics/ftclib/hardware/motors/MotorGroup.java b/core/src/main/java/com/arcrobotics/ftclib/hardware/motors/MotorGroup.java
@@ -113,9 +113,12 @@ public void setZeroPowerBehavior(ZeroPowerBehavior behavior) {
 
     @Override
     public void resetEncoder() {
-        for (Motor motor : group) {
-            motor.resetEncoder();
-        }
+        group[0].resetEncoder();
+    }
+
+    @Override
+    public void stopAndResetEncoder() {
+        group[0].stopAndResetEncoder();
     }
 
     @Override

diff --git a/core/vision/build.gradle b/core/vision/build.gradle
@@ -5,13 +5,14 @@ apply plugin: 'maven'
 
 dependencies {
     api 'org.openftc:easyopencv:1.5.3'
+    implementation 'org.openftc:apriltag:1.1.1'
     implementation "androidx.core:core-ktx:1.6.0"
     implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
 }
 
 def groupId = 'com.arcrobotics.ftclib'
 def artifactId = 'vision'
-def version = '2.0.1'
+def version = '2.1.0'
 
 def localReleaseDest = "${buildDir}/release/${version}"
 def releaseStorageDir = "${projectDir}/ReleaseStorage"