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:

   

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

   

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

   

5. At the bottom, add this:

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   //NOTE: this is the correct version, the below screenshot is outdated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

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

   

6. Now perform a Gradle Sync:

   

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