fdfddfd

build.gradle

@@ -1,28 +1,15 @@
-buildscript {
-    ext.kotlin_version = '1.9.0'
-    repositories {
-        mavenCentral()
-        google()
-    }
-    dependencies {
-        classpath 'com.android.tools.build:gradle:8.2.2'
-    }
-}
-
-apply plugin: 'maven-publish'
-apply plugin: 'com.android.library'
-
-group = 'com.github.tearabite'
+apply plugin: "com.android.library"
 
+version = "release-SNAPSHOT"
 android {
-    namespace = 'com.tearabite.ftctearabits'
-    compileSdkVersion 29
+//
+    namespace = 'com.tearabite.ielib'
+    compileSdkVersion 28
 
     defaultConfig {
         minSdkVersion 24
         //noinspection ExpiredTargetSdkVersion
-        targetSdkVersion 28
-        multiDexEnabled true
+        targetSdkVersion 26
     }
 
     compileOptions {
@@ -30,36 +17,44 @@ android {
         targetCompatibility JavaVersion.VERSION_1_8
     }
 
-    buildTypes {
-        release { }
-        debug { }
-    }
     testOptions {
         unitTests.all {
             useJUnitPlatform()
         }
     }
+
+    lintOptions {
+        abortOnError false
+    }
 }
 
 repositories {
     mavenCentral()
-    maven {
-        url = 'https://maven.brott.dev/'
-    }
-    google()
+    maven { url = 'https://maven.brott.dev/' }
+}
+
+ext {
+    dashboard_version = "0.5.6"
+    min_sdk_version = "9.1.0"
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:RobotCore:9.1.0'
-    implementation 'org.firstinspires.ftc:Vision:9.1.0'
-
-    implementation 'com.acmerobotics.roadrunner:core:1.0.0-beta6'
-    implementation 'com.acmerobotics.roadrunner:actions:1.0.0-beta6'
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.15'
+    api "org.firstinspires.ftc:RobotCore:$min_sdk_version"
+    api "org.firstinspires.ftc:Hardware:$min_sdk_version"
+    api "org.firstinspires.ftc:RobotServer:$min_sdk_version"
+    api "org.firstinspires.ftc:FtcCommon:$min_sdk_version"
+    api "org.firstinspires.ftc:Vision:$min_sdk_version"
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.2'
 
     //noinspection AnnotationProcessorOnCompilePath
     compileOnly 'org.projectlombok:lombok:1.18.30'
     annotationProcessor 'org.projectlombok:lombok:1.18.30'
+
+    implementation 'com.acmerobotics.roadrunner:core:0.5.6'
+}
+
+task androidSourcesJar(type: Jar) {
+    classifier = "sources"
+    from android.sourceSets.main.java.srcDirs
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,7 +1,7 @@
 #Thu Feb 29 12:54:16 CST 2024
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.6-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-bin.zip
 networkTimeout=10000
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

src/main/AndroidManifest.xml

@@ -1,10 +1,2 @@
-<?xml version="1.0" encoding="utf-8"?>
-
-<!-- Note: the actual manifest file used in your APK merges this file with contributions
-     from the modules on which your app depends (such as FtcRobotController, etc).
-     So it won't ultimately be as empty as it might here appear to be :-) -->
-
-<!-- The package name here determines the package for your R class and your BuildConfig class -->
-<manifest>
-    <application/>
-</manifest>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.tearabite.ielib" />

src/main/java/com/tearabite/ielib/common/Alliance.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.common;
+package com.tearabite.ielib.common;
 
 /**
  * Enum for the two alliances in FTC

src/main/java/com/tearabite/ielib/graphics/LinePaint.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.graphics;
+package com.tearabite.ielib.graphics;
 
 import android.graphics.Color;
 import android.graphics.Paint;

src/main/java/com/tearabite/ielib/localization/AprilTagPoseEstimator.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.localization;
+package com.tearabite.ielib.localization;
 
 import static java.lang.Math.PI;
 import static java.lang.Math.asin;
@@ -7,7 +7,7 @@ import static java.lang.Math.cos;
 import static java.lang.Math.pow;
 import static java.lang.Math.sin;
 
-import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
 
 import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
 import org.firstinspires.ftc.robotcore.external.navigation.Quaternion;
@@ -81,9 +81,9 @@ public class AprilTagPoseEstimator {
         double cx = Tx + range * cos(bearing) * cos(ch) + range * sin(bearing) * sin(ch);
         double cy = Ty + range * cos(bearing) * sin(ch) - range * sin(bearing) * cos(ch);
 
-        double offsetX = this.robotOffset.position.x;
-        double offsetY = this.robotOffset.position.y;
-        double Cyaw = this.robotOffset.heading.toDouble();
+        double offsetX = this.robotOffset.getX();
+        double offsetY = this.robotOffset.getY();
+        double Cyaw = this.robotOffset.getHeading();
         double rh = (PI / 2) + Tyaw + yaw - Cyaw;
         double rx = cx + offsetX * cos(rh) - offsetY * sin(rh);
         double ry = cy + offsetX * sin(rh) + offsetY * cos(rh);

src/main/java/com/tearabite/ielib/vision/BasicColorDetectionVisionProcessor.java

@@ -1,13 +1,15 @@
-package com.tearabite.ftctearabits.vision;
+package com.tearabite.ielib.vision;
 
-import static com.tearabite.ftctearabits.graphics.LinePaint.WHITE;
-import static com.tearabite.ftctearabits.vision.FTCColors.FTC_BLUE_RANGE;
-import static com.tearabite.ftctearabits.vision.FTCColors.FTC_RED_RANGE_1;
-import static com.tearabite.ftctearabits.vision.FTCColors.FTC_RED_RANGE_2;
-import static com.tearabite.ftctearabits.vision.OpenCVUtil.getLargestContour;
+import static com.tearabite.ielib.graphics.LinePaint.WHITE;
+import static com.tearabite.ielib.vision.FTCColors.FTC_BLUE_RANGE;
+import static com.tearabite.ielib.vision.FTCColors.FTC_RED_RANGE_1;
+import static com.tearabite.ielib.vision.FTCColors.FTC_RED_RANGE_2;
+import static com.tearabite.ielib.vision.OpenCVUtil.getLargestContour;
 
 import android.graphics.Canvas;
 
+import com.tearabite.ielib.graphics.LinePaint;
+
 import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
 import org.firstinspires.ftc.vision.VisionProcessor;
 import org.opencv.core.Core;
@@ -105,7 +107,7 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
     public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
         if (detection != null && detection.isValid()) {
             Point center = detection.getCenter();
-            canvas.drawCircle((float) center.x, (float) center.y, 10, WHITE);
+            canvas.drawCircle((float) center.x, (float) center.y, 10, LinePaint.WHITE);
         }
     }
 

src/main/java/com/tearabite/ielib/vision/Detection.java

@@ -1,6 +1,6 @@
-package com.tearabite.ftctearabits.vision;
+package com.tearabite.ielib.vision;
 
-import static com.tearabite.ftctearabits.vision.OpenCVUtil.getCenterOfContour;
+import static com.tearabite.ielib.vision.OpenCVUtil.getCenterOfContour;
 
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.Point;
@@ -77,7 +77,7 @@ public class Detection {
             return INVALID_POINT;
         }
 
-        Point centerPx = getCenterOfContour(this.contour);
+        Point centerPx = OpenCVUtil.getCenterOfContour(this.contour);
         if (scale == PropertyScale.Pixels) {
             return centerPx;
         }

src/main/java/com/tearabite/ielib/vision/FTCColors.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.vision;
+package com.tearabite.ielib.vision;
 
 import org.opencv.core.Scalar;
 

src/main/java/com/tearabite/ielib/vision/OpenCVUtil.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.vision;
+package com.tearabite.ielib.vision;
 
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfInt;

src/main/java/com/tearabite/ielib/vision/ScalarRange.java

@@ -1,4 +1,4 @@
-package com.tearabite.ftctearabits.vision;
+package com.tearabite.ielib.vision;
 
 import org.opencv.core.Scalar;
 

src/test/java/com/tearabite/ielib/localization/localization/AprilTagPoseEstimatorTest.java

@@ -1,9 +1,10 @@
-package com.tearabite.ftctearabits.localization;
+package com.tearabite.ielib.localization.localization;
 
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.fail;
 
-import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.tearabite.ielib.localization.AprilTagPoseEstimator;
 
 import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -19,7 +20,7 @@ import org.junit.jupiter.params.provider.MethodSource;
 import java.security.InvalidParameterException;
 import java.util.stream.Stream;
 
-class AprilTagPoseEstimatorTest {
+public class AprilTagPoseEstimatorTest {
 
     private static final AprilTagMetadata metadata = new AprilTagMetadata(
             2,
@@ -91,14 +92,14 @@ class AprilTagPoseEstimatorTest {
     }
 
     private void assertIsClose(Pose2d a, Pose2d b) {
-        boolean isClose = isClose(a.position.x, b.position.x)
-                && isClose(a.position.y, b.position.y)
-                && isClose(a.heading.toDouble(), b.heading.toDouble());
+        boolean isClose = isClose(a.getX(), b.getX())
+                && isClose(a.getY(), b.getY())
+                && isClose(a.getHeading(), b.getHeading());
 
         if (!isClose) {
             fail(String.format("Expected (%.1f, %.1f, %.1f) to be close to (%.1f, %.1f, %.1f)",
-                    a.position.x, a.position.y, a.heading.toDouble(),
-                    b.position.x, b.position.y, b.heading.toDouble()));
+                    a.getX(), a.getY(), a.getHeading(),
+                    b.getX(), b.getY(), b.getHeading()));
         }
     }
 }