Merge pull request #941 from FIRST-Tech-Challenge/20240215-115542-release-candidate

FtcRobotController v9.1

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="51"
-          android:versionName="9.0">
+    android:versionCode="53"
+          android:versionName="9.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -29,6 +29,7 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
+import android.util.Size;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -44,6 +45,23 @@ import java.util.List;
  * This OpMode illustrates the basics of AprilTag recognition and pose estimation,
  * including Java Builder structures for specifying Vision parameters.
  *
+ * For an introduction to AprilTags, see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
+ * "TagLibrary" will have their position and orientation information displayed.  This default TagLibrary contains
+ * the current Season's AprilTags and a small set of "test Tags" in the high number range.
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
+ * There are many "default" VisionPortal and AprilTag configuration parameters that may be overridden if desired.
+ * These default parameters are shown as comments in the 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.
  */
@@ -106,6 +124,8 @@ public class ConceptAprilTag extends LinearOpMode {
 
         // Create the AprilTag processor.
         aprilTag = new AprilTagProcessor.Builder()
+
+            // The following default settings are available to un-comment and edit as needed.
             //.setDrawAxes(false)
             //.setDrawCubeProjection(false)
             //.setDrawTagOutline(true)
@@ -117,11 +137,19 @@ public class ConceptAprilTag extends LinearOpMode {
             // If you do not manually specify calibration parameters, the SDK will attempt
             // to load a predefined calibration for your camera.
             //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
-
             // ... these parameters are fx, fy, cx, cy.
 
             .build();
 
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second (default)
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        //aprilTag.setDecimation(3);
+
         // Create the vision portal by using a builder.
         VisionPortal.Builder builder = new VisionPortal.Builder();
 
@@ -136,7 +164,7 @@ public class ConceptAprilTag extends LinearOpMode {
         //builder.setCameraResolution(new Size(640, 480));
 
         // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
-        //builder.enableCameraMonitoring(true);
+        //builder.enableLiveView(true);
 
         // Set the stream format; MJPEG uses less bandwidth than default YUY2.
         //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);

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

@@ -44,6 +44,20 @@ import java.util.List;
  * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
  * the easy way.
  *
+ * For an introduction to AprilTags, see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
+ * "TagLibrary" will have their position and orientation information displayed.  This default TagLibrary contains
+ * the current Season's AprilTags and a small set of "test Tags" in the high number range.
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
+ * To experiment with using AprilTags to navigate, try out these two driving samples:
+ * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
+ *
  * 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.
  */

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

@@ -29,6 +29,7 @@
 
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
+import android.util.Size;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -53,6 +54,17 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
 
     private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
 
+    // TFOD_MODEL_ASSET points to a model file stored in the project Asset location,
+    // this is only used for Android Studio when using models in Assets.
+    private static final String TFOD_MODEL_ASSET = "MyModelStoredAsAsset.tflite";
+    // TFOD_MODEL_FILE points to a model file stored onboard the Robot Controller's storage,
+    // this is used when uploading models directly to the RC using the model upload interface.
+    private static final String TFOD_MODEL_FILE = "/sdcard/FIRST/tflitemodels/myCustomModel.tflite";
+    // Define the labels recognized in the model for TFOD (must be in training order!)
+    private static final String[] LABELS = {
+       "Pixel",
+    };
+
     /**
      * The variable to store our instance of the TensorFlow Object Detection processor.
      */
@@ -107,11 +119,16 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
         // Create the TensorFlow processor by using a builder.
         tfod = new TfodProcessor.Builder()
 
-            // Use setModelAssetName() if the TF Model is built in as an asset.
-            // Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
+            // With the following lines commented out, the default TfodProcessor Builder
+            // will load the default model for the season. To define a custom model to load, 
+            // choose one of the following:
+            //   Use setModelAssetName() if the custom TF Model is built in as an asset (AS only).
+            //   Use setModelFileName() if you have downloaded a custom team model to the Robot Controller.
             //.setModelAssetName(TFOD_MODEL_ASSET)
             //.setModelFileName(TFOD_MODEL_FILE)
 
+            // The following default settings are available to un-comment and edit as needed to 
+            // set parameters for custom models.
             //.setModelLabels(LABELS)
             //.setIsModelTensorFlow2(true)
             //.setIsModelQuantized(true)
@@ -134,7 +151,7 @@ public class ConceptTensorFlowObjectDetection extends LinearOpMode {
         //builder.setCameraResolution(new Size(640, 480));
 
         // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
-        //builder.enableCameraMonitoring(true);
+        //builder.enableLiveView(true);
 
         // Set the stream format; MJPEG uses less bandwidth than default YUY2.
         //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);

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

@@ -49,6 +49,13 @@ import java.util.concurrent.TimeUnit;
  * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
  * The code assumes a Holonomic (Mecanum or X Drive) Robot.
  *
+ * For an introduction to AprilTags, see the ftc-docs link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
  * The drive goal is to rotate to keep the Tag centered in the camera, while strafing to be directly in front of the tag, and
  * driving towards the tag to achieve the desired distance.
  * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
@@ -102,7 +109,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
     private DcMotor rightBackDrive   = null;  //  Used to control the right back drive wheel
 
     private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = 0;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private static final int DESIRED_TAG_ID = -1;     // Choose the tag you want to approach or set to -1 for ANY tag.
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
     private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
@@ -150,25 +157,33 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                if ((detection.metadata != null) &&
-                    ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID))  ){
-                    targetFound = true;
-                    desiredTag = detection;
-                    break;  // don't look any further.
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
                 } else {
-                    telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
-                telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
                 telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
                 telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
                 telemetry.addData("Yaw","%3.0f degrees", desiredTag.ftcPose.yaw);
             } else {
-                telemetry.addData(">","Drive using joysticks to find valid target\n");
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
 
             // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@@ -243,6 +258,15 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
         // Create the AprilTag processor by using a builder.
         aprilTag = new AprilTagProcessor.Builder().build();
 
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
         // Create the vision portal by using a builder.
         if (USE_WEBCAM) {
             visionPortal = new VisionPortal.Builder()

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

@@ -49,6 +49,13 @@ import java.util.concurrent.TimeUnit;
  * This OpMode illustrates using a camera to locate and drive towards a specific AprilTag.
  * The code assumes a basic two-wheel (Tank) Robot Drivetrain
  *
+ * For an introduction to AprilTags, see the ftc-docs link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
+ * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
+ * https://ftc-docs.firstinspires.org/apriltag-detection-values
+ *
  * The driving goal is to rotate to keep the tag centered in the camera, while driving towards the tag to achieve the desired distance.
  * To reduce any motion blur (which will interrupt the detection process) the Camera exposure is reduced to a very low value (5mS)
  * You can determine the best exposure and gain values by using the ConceptAprilTagOptimizeExposure OpMode in this Samples folder.
@@ -97,7 +104,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
     private DcMotor rightDrive  = null;  //  Used to control the right drive wheel
 
     private static final boolean USE_WEBCAM = true;  // Set true to use a webcam, or false for a phone camera
-    private static final int DESIRED_TAG_ID = 0;     // Choose the tag you want to approach or set to -1 for ANY tag.
+    private static final int DESIRED_TAG_ID = -1;    // Choose the tag you want to approach or set to -1 for ANY tag.
     private VisionPortal visionPortal;               // Used to manage the video source.
     private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
     private AprilTagDetection desiredTag = null;     // Used to hold the data for a detected AprilTag
@@ -140,24 +147,32 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
             // Step through the list of detected tags and look for a matching tag
             List<AprilTagDetection> currentDetections = aprilTag.getDetections();
             for (AprilTagDetection detection : currentDetections) {
-                if ((detection.metadata != null) &&
-                    ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID))  ){
-                    targetFound = true;
-                    desiredTag = detection;
-                    break;  // don't look any further.
+                // Look to see if we have size info on this tag.
+                if (detection.metadata != null) {
+                    //  Check to see if we want to track towards this tag.
+                    if ((DESIRED_TAG_ID < 0) || (detection.id == DESIRED_TAG_ID)) {
+                        // Yes, we want to use this tag.
+                        targetFound = true;
+                        desiredTag = detection;
+                        break;  // don't look any further.
+                    } else {
+                        // This tag is in the library, but we do not want to track it right now.
+                        telemetry.addData("Skipping", "Tag ID %d is not desired", detection.id);
+                    }
                 } else {
-                    telemetry.addData("Unknown Target", "Tag ID %d is not in TagLibrary\n", detection.id);
+                    // This tag is NOT in the library, so we don't have enough information to track to it.
+                    telemetry.addData("Unknown", "Tag ID %d is not in TagLibrary", detection.id);
                 }
             }
 
             // Tell the driver what we see, and what to do.
             if (targetFound) {
-                telemetry.addData(">","HOLD Left-Bumper to Drive to Target\n");
-                telemetry.addData("Target", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
+                telemetry.addData("\n>","HOLD Left-Bumper to Drive to Target\n");
+                telemetry.addData("Found", "ID %d (%s)", desiredTag.id, desiredTag.metadata.name);
                 telemetry.addData("Range",  "%5.1f inches", desiredTag.ftcPose.range);
                 telemetry.addData("Bearing","%3.0f degrees", desiredTag.ftcPose.bearing);
             } else {
-                telemetry.addData(">","Drive using joysticks to find valid target\n");
+                telemetry.addData("\n>","Drive using joysticks to find valid target\n");
             }
 
             // If Left Bumper is being pressed, AND we have found the desired target, Drive to target Automatically .
@@ -218,6 +233,15 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
         // Create the AprilTag processor by using a builder.
         aprilTag = new AprilTagProcessor.Builder().build();
 
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        aprilTag.setDecimation(2);
+
         // Create the vision portal by using a builder.
         if (USE_WEBCAM) {
             visionPortal = new VisionPortal.Builder()

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

@@ -0,0 +1,78 @@
+/* Copyright (c) 2024 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.DigitalChannel;
+
+/*
+ * This OpMode demonstrates how to use a digital channel.
+ *
+ * The OpMode assumes that the digital channel is configured with a name of "digitalTouch".
+ *
+ * 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 = "Sensor: digital channel", group = "Sensor")
+@Disabled
+public class SensorDigitalTouch extends LinearOpMode {
+    DigitalChannel digitalTouch;  // Digital channel Object
+
+    @Override
+    public void runOpMode() {
+
+        // get a reference to our touchSensor object.
+        digitalTouch = hardwareMap.get(DigitalChannel.class, "digitalTouch");
+
+        digitalTouch.setMode(DigitalChannel.Mode.INPUT);
+        telemetry.addData("DigitalTouchSensorExample", "Press start to continue...");
+        telemetry.update();
+
+        // wait for the start button to be pressed.
+        waitForStart();
+
+        // while the OpMode is active, loop and read the digital channel.
+        // Note we use opModeIsActive() as our loop condition because it is an interruptible method.
+        while (opModeIsActive()) {
+
+            // button is pressed if value returned is LOW or false.
+            // send the info back to driver station using telemetry function.
+            if (digitalTouch.getState() == false) {
+                telemetry.addData("Button", "PRESSED");
+            } else {
+                telemetry.addData("Button", "NOT PRESSED");
+            }
+
+            telemetry.update();
+        }
+    }
+}

README.md

@@ -59,6 +59,58 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 9.1 (20240215-115542)
+
+### Enhancements
+* Fixes a problem with Blocks: if the user closes a Block's warning balloon, it will still be closed next time the project is opened in the Blocks editor.
+* In the Blocks editor, an alert concerning missing hardware devices is not shown if all the Blocks that use the missing hardware devices are disabled.
+* Adds Blocks to support comparing property values CRServo.Direction, DCMotor.Direction, DCMotor.Mode, DCMotor.ZeroPowerBehavior, DigitalChannel.Mode, GyroSensor.HeadingMode, IrSeekerSensor.Mode, and Servo.Direction, to the corresponding enum Block.
+* Improves OnBotJava auto-import to correctly import classes when used in certain situations.
+* Improves OnBotJava autocomplete to provide better completion options in most cases.
+  * This fixes an issue where autocomplete would fail if a method with two or more formal parameters was defined.
+* In OnBotJava, code folding support was added to expand and collapse code sections
+* In OnBotJava, the copyright header is now automatically collapsed loading new files
+* For all Blocks OpMode samples, intro comments have been moved to the RunOpMode comment balloon.
+* The Clean up Blocks command in the Blocks editor now positions function Blocks so their comment balloons don't overlap other function Blocks.
+* Added Blocks OpMode sample SensorTouch.
+* Added Java OpMode sample SensorDigitalTouch.
+* Several improvements to VisionPortal
+  * Adds option to control whether the stream is automatically started following a `.build()` call on a VisionPortal Builder
+  * Adds option to control whether the vision processing statistics overlay is rendered or not
+  * VisionPortals now implement the `CameraStreamSource` interface, allowing multiportal users to select which portal is routed to the DS in INIT by calling CameraStreamServer.getInstance().setSource(visionPortal). Can be selected via gamepad, between Camera Stream sessions.
+  * Add option to `AprilTagProcessor` to suppress calibration warnings
+  * Improves camera calibration warnings
+    * If a calibration is scaled, the resolution it was scaled from will be listed
+    * If calibrations exist with the wrong aspect ratio, the calibrated resolutions will be listed
+  * Fixes race condition which caused app crash when calling `stopStreaming()` immediately followed by `close()` on a VisionPortal
+  * Fixes IllegalStateException when calling `stopStreaming()` immediately after building a VisionPortal
+  * Added FTC Blocks counterparts to new Java methods:
+    * VisionPortal.Builder.setAutoStartStreamOnBuild
+    * VisionPortal.Builder.setShowStatsOverlay
+    * AprilTagProcessor.Builder.setSuppressCalibrationWarnings
+    * CameraStreamServer.setSource​
+
+### Bug Fixes
+* Fixes a problem where OnBotJava does not apply font size settings to the editor.
+* Updates EasyOpenCV dependency to v1.7.1
+  * Fixes inability to use EasyOpenCV CameraFactory in OnBotJava
+  * Fixes entire RC app crash when user pipeline throws an exception
+  * Fixes entire RC app crash when user user canvas annotator throws an exception
+  * Use the modern stacktrace display when handling user exceptions instead of the legacy ESTOP telemetry message
+
+## Version 9.0.1 (20230929-083754)
+
+### Enhancements
+* Updates AprilTag samples to include Decimation and additional Comments.  Also corrects misleading tag ID warnings
+* Increases maximum size of Blocks inline comments to 140 characters
+* Adds Blocks sample BasicOmniOpMode.
+* Updated CENTERSTAGE library AprilTag orientation quaternions
+    * Thanks [@FromenActual](https://github.com/FromenActual)
+* Updated Java Sample ConceptTensorFlowObjectDetection.java to include missing elements needed for custom model support.
+
+### Bug Fixes
+* Fixes a problem where after October 1 the Driver Station will report as obsolete on v9.0 and prompt the user to update.
+
 ## Version 9.0 (20230830-154348)
 
 ### Breaking Changes

build.dependencies.gradle

@@ -4,15 +4,15 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:9.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:9.0.0'
-    implementation 'org.firstinspires.ftc:Tfod:9.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:9.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:9.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:9.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:9.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:9.0.0'
-    implementation 'org.firstinspires.ftc:Vision:9.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:9.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:9.1.0'
+    implementation 'org.firstinspires.ftc:Tfod:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotCore:9.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:9.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:9.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:9.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:9.1.0'
+    implementation 'org.firstinspires.ftc:Vision:9.1.0'
     implementation 'org.firstinspires.ftc:gameAssets-CenterStage:1.0.0'
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3'
     runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0'