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RevExtensions2

NOTE: SDK v4.x/5.x is required to use this

NOTE: an OpenRC-based SDK is NOT required to use this

NOTE: scroll down for installation instructions

DISCLAIMER:

Use this at your own risk. You accept the possibility that using these extra features may cause the SDK to implode and cause you lose F-3 at worlds. That being said, I used a few of these features in competition this past season without any issues.

What extra functionality does this add to the SDK?

  • Setting the LED color on the Hub

  • Setting the speed of the I2C buses on the Hub

  • Querying for total module current draw

  • Querying for servo bus current draw [ broken: REV firmware bug ]

  • Querying for GPIO bus current draw

  • Querying for I2C bus current draw

  • Querying for individual motor channel current draw

  • Reading the 5v monitor

  • Reading the 12v monitor

  • Queying for the internal temperature inside the Hub [ broken: unknown units ]

  • Query whether the Expansion Hub is in an over-temp condition

  • Query whether each individual motor H-bridge is over-temp

  • Query whether phone charging is enabled [ broken: REV firmware bug ]

  • Enable or disable phone charging

  • Setting servo pulse width directly in microseconds

  • Reading certain data in bulk from the Hub (can increase your control loop speed)

    The following data can be read in one go:

    • All 4 encoder counts
    • All 4 encoder velocities
    • All digital pins
    • All all analog pins
    • Is motor at target position for all 4 motors

  • Query whether a motor has "lost counts" [ broken: no idea what this actually does ]

  • Query for which firmware version the Hub has installed

  • Query for which hardware revision the Hub is

  • Convenient VexMC29 class to prevent the need to manually scale the servo range for the Vex MC29.

How do I install this?

  1. Open your FTC SDK Android Studio project

  2. Open the build.common.gradle file:

    img-her

  3. Add jcenter() to the repositories block at the bottom:

    img-her

  4. Open the build.gradle file for the TeamCode module:

    img-her

  5. At the bottom, add this:

     dependencies {
     //NOTE: this is the correct version, the below screenshot is outdated
     compile 'org.openftc:rev-extensions-2:1.2'
  }

    When you've done that, the bottom of the file should look like this:

    img-her

  6. Now perform a Gradle Sync:

    img-her

  7. Wait for Gradle to finish gradling

  8. Congratulations! You are now ready to use the new features provided by REV Extensions 2!

Ok now that I've installed it, how do I use this?

Please see the examples folder. More detailed documentation coming soon.

Changelog

v1.2

  • Fix compatibility with SDK v5.x (should still be backwards compatible with v4.x, as the difference was not a compile-time issue)
  • Bugfix: (Issue #6) Prevent possibility of exception when doing bulk reads during disconnect event
  • Add VexMC29 class, which scales the normal -1 to 1 CRServo PWM range to the range expected by the MC29.
  • API change: The hardware map is now hotswapped transparently - you no longer need to call RevExtensions2.init()
  • API change: Require units as a parameter to get voltage/current/temperature methods

v1.1

  • Fix compatibility with SDK v4.x (due to API breaking changes, older versions of the SDK are no longer supported)
  • Fix RevBulkData.getMotorCurrentPosition() and RevBulkData.getMotorVelocity() to return the value signed to be consistent with DcMotor.getMotorCurrentPosition() and DcMotorEx.getVelocity()
  • Correct typo in CurrentMonitorsExample.java
  • Don't ignore reflection exceptions
  • Add JavaDoc comments to RevBulkData.java
  • Refactor hotswapping slightly

v1.0

  • Initial release