0.4.9

Changes

• Navigation module is now multiplatform!
• GUI is now rewritten for the web!
• New feedforward classes to better separate it from feedback
• New AngleSensor class
• New annotations + delegates for CommandOpMode to make things cleaner
• Overhauled drive classes
• Fixed bug where CommandOpMode was initializing commands too early
• New experimental GVF following algorithms
• New PositionPath and PositionPathBuilder
• MotorGroup is now also a List<Motor> for more utility methods
• Simplified Motor
• New quality of life features for GamepadEx and MultipleGamepad
  • Controller-independent buttons
  • button concactenation + nicer button selectors
• Trajectories are now serializable to JSON
• Removed Angle.defaultUnits
• Added faster, state-of-the-art path projection algorithms
• Fixed many bugs with JoosConfig annotation and its siblings
• Much improved swerve kinematics and overall support
• Angular acceleration constraints now implemented correctly
• Fixed bug where ParallelCommands couldn't run more than once
• Updated all dependencies (including FTC Dashboard)

0.4.8

Changes

• Migration to kotlin build script
• Addition of dokka documentation
• CommandInterface is now implemented only by CommandOpMode and Robot
• CommandScheduler's methods are now static for ease of access
• RobotOpMode has been removed and merged into CommandOpMode using registerRobot
• Component has more convenience constructors
• TrajectoryConstraints and subclasses moved to com.amarcolini.joos.trajectory.constraints

Note: The GUI has not changed, so the artifacts for this release have been omitted. The artifacts from the previous release will work fine.

0.4.7

Changes

• Public vars with private setters are no longer put on FTC Dashboard (kotlin)
• Command decorators are now more memory efficient
• Added RepeatCommand for repeating commands
• Added TimeCommand for time-based commands
• Removed initialize from RobotOpMode and replaced it with a constructor reference constructor parameter
• Added item providers to SuperTelemetry, similar to the default OpMode telemetry
• More quality-of-life methods and constructors for Motor and Motor.Encoder
• DiffSwerveDrive now also has setWeightedDrivePower
• Added Standard2WheelLocalizer and Standard3WheelLocalizer for dead wheel odometry
• Redid GUI rendering system, fixing jittering issues when dragging waypoints
• Better separated FeedforwardCoefficients and PIDFController
• Moved Kinematics.calculateMotorFeedforward to FeedforwardCoefficients
• Minor bug fixes

0.4.6-alpha

Changes

• The annotation module is fixed and now also makes sure it can access fields/properties
• CommandScheduler is now a singleton! This allows for a lot of helpful features:
  • Robot no longer needs an OpMode as a constructor parameter
  • CommandInterface allows easy access to CommandScheduler
  • Telemetries and gamepads get automatically registered
• New CommandOpMode in case you don't like using Robots
• Fixes to SuperTelemetry
• Motor distancePerRev separated into gearRatio and distancePerOutputRev, allowing for setTargetAngle and goToAngle
• New Motor.Kind for easy construction
• Servo range set to 300 degrees by default because all the goBILDA servos have that range
• command module now requires minSdkVersion of 24

0.4.5-alpha

Changes

• Annotation processor now supports scanning kotlin types through ksp, which should now be used instead of kapt (#14).
• Kotlin types are now scanned when creating config variables, so kotlin properties will show up on FTC Dashboard
• JoosConfig can now also be placed on individual fields / properties as well as on companion objects
• GUI importing is now improved - Gradle will automatically retrieve platform-specific dependencies
• Imu fix?

0.4.4-alpha

Changes

• New annotations: JoosConfig and WithConfig, and an annotation processor to go with them!

To install the annotation processor, add it to the annotationProcessor configuration:

dependencies {
  annotationProcessor 'com.github.amarcolini.joos.command:annotation:0.4.4-alpha'
}

Or if using kotlin, install kapt and add it to the kapt configuration:

dependencies {
  kapt 'com.github.amarcolini.joos.command:annotation:0.4.4-alpha'
}

• GUI robot size is now changeable
• Fixed GUI bug with strafeLeft and strafeRight
• Angle, Pose2d, and Vector2d are now mutable (so they can be altered on dashboard)

0.4.3-alpha

Changes

• The GUI is now distributed with jlink and platform-specific classifiers
• MotorGroup now has a rotation property and its motors are now public

0.4.2-alpha

Changes

• Differential swerve module directionality optimized (thanks @omagarwal25)
• Angle methods now avoid extra conversions when possible
• Fixed bug where updating DiffSwerveDrive before setting any drive power/signal threw an error

0.4.1-alpha

Changes

• SwerveKinematics and DiffSwerveKinematics now minimize module rotation in favor of direction switching (#9)
• Minor quality of life improvements for trajectory builders

0.4.0-alpha

Changes

• New Angle class! Code that used to look like this:

       new TrajectoryBuilder(new Pose2d(), Math.toRadians(0.0), new GenericConstraints())
               .splineTo(new Vector2d(30, 30), Math.toRadians(0.0))
               .turn(Math.toRadians(90))
               .splineToSplineHeading(new Pose2d(40, -20, Math.toRadians(45)), Math.toRadians(30))
               .build();

now looks like this:

        new TrajectoryBuilder(new Pose2d(), 0.0, new GenericConstraints())
                .splineTo(new Vector2d(30, 30), 0.0)
                .turn(90)
                .splineToSplineHeading(new Pose2d(40, -20, 45), 30)
                .build();

• Servo speed can now be changed
• All DriveComponents now have an exposed motor group for easy access to motor properties
• Differential swerve drive support out-of-the-box! (#4)
• DashboardUtil has been removed and merged into SuperTelemetry
• SuperTelemetry now graphs items on their own line in FTC Dashboard (#7 and #8)
• Motor now has 2 new properties: rotation and maxDistanceVelocity
• RobotOpMode now has preInit and preStart instead of just init so that it is possible to schedule commands that run in the run loop (#5)
• Did someone say DRAGGABLE TANGENTS AND HEADING? Cause the GUI has it now
• CommandScheduler.reset() should now be thread-safe (#9)
• Minor logo changes