46 skills found · Page 1 of 2
JuliaPhysics / Measurements.jlError propagation calculator and library for physical measurements. It supports real and complex numbers with uncertainty, arbitrary precision calculations, operations with arrays, and numerical integration.
tmolteno / NecppNEC2++ is a C++ rewrite of the Numerical Electromagnetics Code (NEC-2) with many new features like automatic error detection when you specify the structure incorrectly and much faster execution. Nec2++ can analyse radiating as well as scattering properties of structures. The simulation engine in Nec2++ is compiled into a library for easy integration into automatic antenna design systems or GUI tools. Examples are included for using Nec2++ from C/C++, Ruby and Python.
chrisneagu / FTC Skystone Dark Angels Romania 2020NOTICE This repository contains the public FTC SDK for the SKYSTONE (2019-2020) competition season. If you are looking for the current season's FTC SDK software, please visit the new and permanent home of the public FTC SDK: FtcRobotController repository Welcome! This GitHub repository contains the source code that is used to build an Android app to control a FIRST Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer. Getting Started If you are new to robotics or new to the FIRST Tech Challenge, then you should consider reviewing the FTC Blocks Tutorial to get familiar with how to use the control system: FTC Blocks Online Tutorial Even if you are an advanced Java programmer, it is helpful to start with the FTC Blocks tutorial, and then migrate to the OnBot Java Tool or to Android Studio afterwards. Downloading the Project If you are an Android Studio programmer, there are several ways to download this repo. Note that if you use the Blocks or OnBot Java Tool to program your robot, then you do not need to download this repository. If you are a git user, you can clone the most current version of the repository: git clone https://github.com/FIRST-Tech-Challenge/SKYSTONE.git Or, if you prefer, you can use the "Download Zip" button available through the main repository page. Downloading the project as a .ZIP file will keep the size of the download manageable. You can also download the project folder (as a .zip or .tar.gz archive file) from the Downloads subsection of the Releases page for this repository. Once you have downloaded and uncompressed (if needed) your folder, you can use Android Studio to import the folder ("Import project (Eclipse ADT, Gradle, etc.)"). Getting Help User Documentation and Tutorials FIRST maintains online documentation with information and tutorials on how to use the FIRST Tech Challenge software and robot control system. You can access this documentation using the following link: SKYSTONE Online Documentation Note that the online documentation is an "evergreen" document that is constantly being updated and edited. It contains the most current information about the FIRST Tech Challenge software and control system. Javadoc Reference Material The Javadoc reference documentation for the FTC SDK is now available online. Click on the following link to view the FTC SDK Javadoc documentation as a live website: FTC Javadoc Documentation Documentation for the FTC SDK is also included with this repository. There is a subfolder called "doc" which contains several subfolders: The folder "apk" contains the .apk files for the FTC Driver Station and FTC Robot Controller apps. The folder "javadoc" contains the JavaDoc user documentation for the FTC SDK. Online User Forum For technical questions regarding the Control System or the FTC SDK, please visit the FTC Technology forum: FTC Technology Forum Release Information Version 5.5 (20200824-090813) Version 5.5 requires Android Studio 4.0 or later. New features Adds support for calling custom Java classes from Blocks OpModes (fixes SkyStone issue #161). Classes must be in the org.firstinspires.ftc.teamcode package. Methods must be public static and have no more than 21 parameters. Parameters declared as OpMode, LinearOpMode, Telemetry, and HardwareMap are supported and the argument is provided automatically, regardless of the order of the parameters. On the block, the sockets for those parameters are automatically filled in. Parameters declared as char or java.lang.Character will accept any block that returns text and will only use the first character in the text. Parameters declared as boolean or java.lang.Boolean will accept any block that returns boolean. Parameters declared as byte, java.lang.Byte, short, java.lang.Short, int, java.lang.Integer, long, or java.lang.Long, will accept any block that returns a number and will round that value to the nearest whole number. Parameters declared as float, java.lang.Float, double, java.lang.Double will accept any block that returns a number. Adds telemetry API method for setting display format Classic Monospace HTML (certain tags only) Adds blocks support for switching cameras. Adds Blocks support for TensorFlow Object Detection with a custom model. Adds support for uploading a custom TensorFlow Object Detection model in the Manage page, which is especially useful for Blocks and OnBotJava users. Shows new Control Hub blink codes when the WiFi band is switched using the Control Hub's button (only possible on Control Hub OS 1.1.2) Adds new warnings which can be disabled in the Advanced RC Settings Mismatched app versions warning Unnecessary 2.4 GHz WiFi usage warning REV Hub is running outdated firmware (older than version 1.8.2) Adds support for Sony PS4 gamepad, and reworks how gamepads work on the Driver Station Removes preference which sets gamepad type based on driver position. Replaced with menu which allows specifying type for gamepads with unknown VID and PID Attempts to auto-detect gamepad type based on USB VID and PID If gamepad VID and PID is not known, use type specified by user for that VID and PID If gamepad VID and PID is not known AND the user has not specified a type for that VID and PID, an educated guess is made about how to map the gamepad Driver Station will now attempt to automatically recover from a gamepad disconnecting, and re-assign it to the position it was assigned to when it dropped If only one gamepad is assigned and it drops: it can be recovered If two gamepads are assigned, and have different VID/PID signatures, and only one drops: it will be recovered If two gamepads are assigned, and have different VID/PID signatures, and BOTH drop: both will be recovered If two gamepads are assigned, and have the same VID/PID signatures, and only one drops: it will be recovered If two gamepads are assigned, and have the same VID/PID signatures, and BOTH drop: neither will be recovered, because of the ambiguity of the gamepads when they re-appear on the USB bus. There is currently one known edge case: if there are two gamepads with the same VID/PID signature plugged in, but only one is assigned, and they BOTH drop, it's a 50-50 chance of which one will be chosen for automatic recovery to the assigned position: it is determined by whichever one is re-enumerated first by the USB bus controller. Adds landscape user interface to Driver Station New feature: practice timer with audio cues New feature (Control Hub only): wireless network connection strength indicator (0-5 bars) New feature (Control Hub only): tapping on the ping/channel display will switch to an alternate display showing radio RX dBm and link speed (tap again to switch back) The layout will NOT autorotate. You can switch the layout from the Driver Station's settings menu. Breaking changes Removes support for Android versions 4.4 through 5.1 (KitKat and Lollipop). The minSdkVersion is now 23. Removes the deprecated LinearOpMode methods waitOneFullHardwareCycle() and waitForNextHardwareCycle() Enhancements Handles RS485 address of Control Hub automatically The Control Hub is automatically given a reserved address Existing configuration files will continue to work All addresses in the range of 1-10 are still available for Expansion Hubs The Control Hub light will now normally be solid green, without blinking to indicate the address The Control Hub will not be shown on the Expansion Hub Address Change settings page Improves REV Hub firmware updater The user can now choose between all available firmware update files Version 1.8.2 of the REV Hub firmware is bundled into the Robot Controller app. Text was added to clarify that Expansion Hubs can only be updated via USB. Firmware update speed was reduced to improve reliability Allows REV Hub firmware to be updated directly from the Manage webpage Improves log viewer on Robot Controller Horizontal scrolling support (no longer word wrapped) Supports pinch-to-zoom Uses a monospaced font Error messages are highlighted New color scheme Attempts to force-stop a runaway/stuck OpMode without restarting the entire app Not all types of runaway conditions are stoppable, but if the user code attempts to talk to hardware during the runaway, the system should be able to capture it. Makes various tweaks to the Self Inspect screen Renames "OS version" entry to "Android version" Renames "WiFi Direct Name" to "WiFi Name" Adds Control Hub OS version, when viewing the report of a Control Hub Hides the airplane mode entry, when viewing the report of a Control Hub Removes check for ZTE Speed Channel Changer Shows firmware version for all Expansion and Control Hubs Reworks network settings portion of Manage page All network settings are now applied with a single click The WiFi Direct channel of phone-based Robot Controllers can now be changed from the Manage page WiFi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels The current WiFi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later. On Control Hubs running OS 1.1.2 or later, you can choose to have the system automatically select a channel on the 5 GHz band Improves OnBotJava New light and dark themes replace the old themes (chaos, github, chrome,...) the new default theme is light and will be used when you first update to this version OnBotJava now has a tabbed editor Read-only offline mode Improves function of "exit" menu item on Robot Controller and Driver Station Now guaranteed to be fully stopped and unloaded from memory Shows a warning message if a LinearOpMode exists prematurely due to failure to monitor for the start condition Improves error message shown when the Driver Station and Robot Controller are incompatible with each other Driver Station OpMode Control Panel now disabled while a Restart Robot is in progress Disables advanced settings related to WiFi direct when the Robot Controller is a Control Hub. Tint phone battery icons on Driver Station when low/critical. Uses names "Control Hub Portal" and "Control Hub" (when appropriate) in new configuration files Improve I2C read performance Very large improvement on Control Hub; up to ~2x faster with small (e.g. 6 byte) reads Not as apparent on Expansion Hubs connected to a phone Update/refresh build infrastructure Update to 'androidx' support library from 'com.android.support:appcompat', which is end-of-life Update targetSdkVersion and compileSdkVersion to 28 Update Android Studio's Android plugin to latest Fix reported build timestamp in 'About' screen Add sample illustrating manual webcam use: ConceptWebcam Bug fixes Fixes SkyStone issue #248 Fixes SkyStone issue #232 and modifies bulk caching semantics to allow for cache-preserving MANUAL/AUTO transitions. Improves performance when REV 2M distance sensor is unplugged Improves readability of Toast messages on certain devices Allows a Driver Station to connect to a Robot Controller after another has disconnected Improves generation of fake serial numbers for UVC cameras which do not provide a real serial number Previously some devices would assign such cameras a serial of 0:0 and fail to open and start streaming Fixes ftc_app issue #638. Fixes a slew of bugs with the Vuforia camera monitor including: Fixes bug where preview could be displayed with a wonky aspect ratio Fixes bug where preview could be cut off in landscape Fixes bug where preview got totally messed up when rotating phone Fixes bug where crosshair could drift off target when using webcams Fixes issue in UVC driver on some devices (ftc_app 681) if streaming was started/stopped multiple times in a row Issue manifested as kernel panic on devices which do not have this kernel patch. On affected devices which do have the patch, the issue was manifest as simply a failure to start streaming. The Tech Team believes that the root cause of the issue is a bug in the Linux kernel XHCI driver. A workaround was implemented in the SDK UVC driver. Fixes bug in UVC driver where often half the frames from the camera would be dropped (e.g. only 15FPS delivered during a streaming session configured for 30FPS). Fixes issue where TensorFlow Object Detection would show results whose confidence was lower than the minimum confidence parameter. Fixes a potential exploitation issue of CVE-2019-11358 in OnBotJava Fixes changing the address of an Expansion Hub with additional Expansion Hubs connected to it Preserves the Control Hub's network connection when "Restart Robot" is selected Fixes issue where device scans would fail while the Robot was restarting Fix RenderScript usage Use androidx.renderscript variant: increased compatibility Use RenderScript in Java mode, not native: simplifies build Fixes webcam-frame-to-bitmap conversion problem: alpha channel wasn't being initialized, only R, G, & B Fixes possible arithmetic overflow in Deadline Fixes deadlock in Vuforia webcam support which could cause 5-second delays when stopping OpMode Version 5.4 (20200108-101156) Fixes SkyStone issue #88 Adds an inspection item that notes when a robot controller (Control Hub) is using the factory default password. Fixes SkyStone issue #61 Fixes SkyStone issue #142 Fixes ftc_app issue #417 by adding more current and voltage monitoring capabilities for REV Hubs. Fixes a crash sometimes caused by OnBotJava activity Improves OnBotJava autosave functionality ftc_app #738 Fixes system responsiveness issue when an Expansion Hub is disconnected Fixes issue where IMU initialization could prevent Op Modes from stopping Fixes issue where AndroidTextToSpeech.speak() would fail if it was called too early Adds telemetry.speak() methods and blocks, which cause the Driver Station (if also updated) to speak text Adds and improves Expansion Hub-related warnings Improves Expansion Hub low battery warning Displays the warning immediately after the hub reports it Specifies whether the condition is current or occurred temporarily during an OpMode run Displays which hubs reported low battery Displays warning when hub loses and regains power during an OpMode run Fixes the hub's LED pattern after this condition Displays warning when Expansion Hub is not responding to commands Specifies whether the condition is current or occurred temporarily during an OpMode run Clarifies warning when Expansion Hub is not present at startup Specifies that this condition requires a Robot Restart before the hub can be used. The hub light will now accurately reflect this state Improves logging and reduces log spam during these conditions Syncs the Control Hub time and timezone to a connected web browser programming the robot, if a Driver Station is not available. Adds bulk read functionality for REV Hubs A bulk caching mode must be set at the Hub level with LynxModule#setBulkCachingMode(). This applies to all relevant SDK hardware classes that reference that Hub. The following following Hub bulk caching modes are available: BulkCachingMode.OFF (default): All hardware calls operate as usual. Bulk data can read through LynxModule#getBulkData() and processed manually. BulkCachingMode.AUTO: Applicable hardware calls are served from a bulk read cache that is cleared/refreshed automatically to ensure identical commands don't hit the same cache. The cache can also be cleared manually with LynxModule#clearBulkCache(), although this is not recommended. (advanced users) BulkCachingMode.MANUAL: Same as BulkCachingMode.AUTO except the cache is never cleared automatically. To avoid getting stale data, the cache must be manually cleared at the beginning of each loop body or as the user deems appropriate. Removes PIDF Annotation values added in Rev 5.3 (to AndyMark, goBILDA and TETRIX motor configurations). The new motor types will still be available but their Default control behavior will revert back to Rev 5.2 Adds new ConceptMotorBulkRead sample Opmode to demonstrate and compare Motor Bulk-Read modes for reducing I/O latencies. Version 5.3 (20191004-112306) Fixes external USB/UVC webcam support Makes various bugfixes and improvements to Blocks page, including but not limited to: Many visual tweaks Browser zoom and window resize behave better Resizing the Java preview pane works better and more consistently across browsers The Java preview pane consistently gets scrollbars when needed The Java preview pane is hidden by default on phones Internet Explorer 11 should work Large dropdown lists display properly on lower res screens Disabled buttons are now visually identifiable as disabled A warning is shown if a user selects a TFOD sample, but their device is not compatible Warning messages in a Blocks op mode are now visible by default. Adds goBILDA 5201 and 5202 motors to Robot Configurator Adds PIDF Annotation values to AndyMark, goBILDA and TETRIX motor configurations. This has the effect of causing the RUN_USING_ENCODERS and RUN_TO_POSITION modes to use PIDF vs PID closed loop control on these motors. This should provide more responsive, yet stable, speed control. PIDF adds Feedforward control to the basic PID control loop. Feedforward is useful when controlling a motor's speed because it "anticipates" how much the control voltage must change to achieve a new speed set-point, rather than requiring the integrated error to change sufficiently. The PIDF values were chosen to provide responsive, yet stable, speed control on a lightly loaded motor. The more heavily a motor is loaded (drag or friction), the more noticable the PIDF improvement will be. Fixes startup crash on Android 10 Fixes ftc_app issue #712 (thanks to FROGbots-4634) Fixes ftc_app issue #542 Allows "A" and lowercase letters when naming device through RC and DS apps. Version 5.2 (20190905-083277) Fixes extra-wide margins on settings activities, and placement of the new configuration button Adds Skystone Vuforia image target data. Includes sample Skystone Vuforia Navigation op modes (Java). Includes sample Skystone Vuforia Navigation op modes (Blocks). Adds TensorFlow inference model (.tflite) for Skystone game elements. Includes sample Skystone TensorFlow op modes (Java). Includes sample Skystone TensorFlow op modes (Blocks). Removes older (season-specific) sample op modes. Includes 64-bit support (to comply with Google Play requirements). Protects against Stuck OpModes when a Restart Robot is requested. (Thanks to FROGbots-4634) (ftc_app issue #709) Blocks related changes: Fixes bug with blocks generated code when hardware device name is a java or javascript reserved word. Shows generated java code for blocks, even when hardware items are missing from the active configuration. Displays warning icon when outdated Vuforia and TensorFlow blocks are used (SkyStone issue #27) Version 5.1 (20190820-222104) Defines default PIDF parameters for the following motors: REV Core Hex Motor REV 20:1 HD Hex Motor REV 40:1 HD Hex Motor Adds back button when running on a device without a system back button (such as a Control Hub) Allows a REV Control Hub to update the firmware on a REV Expansion Hub via USB Fixes SkyStone issue #9 Fixes ftc_app issue #715 Prevents extra DS User clicks by filtering based on current state. Prevents incorrect DS UI state changes when receiving new OpMode list from RC Adds support for REV Color Sensor V3 Adds a manual-refresh DS Camera Stream for remotely viewing RC camera frames. To show the stream on the DS, initialize but do not run a stream-enabled opmode, select the Camera Stream option in the DS menu, and tap the image to refresh. This feature is automatically enabled when using Vuforia or TFOD—no additional RC configuration is required for typical use cases. To hide the stream, select the same menu item again. Note that gamepads are disabled and the selected opmode cannot be started while the stream is open as a safety precaution. To use custom streams, consult the API docs for CameraStreamServer#setSource and CameraStreamSource. Adds many Star Wars sounds to RobotController resources. Added SKYSTONE Sounds Chooser Sample Program. Switches out startup, connect chimes, and error/warning sounds for Star Wars sounds Updates OnBot Java to use a WebSocket for communication with the robot The OnBot Java page no longer has to do a full refresh when a user switches from editing one file to another Known issues: Camera Stream The Vuforia camera stream inherits the issues present in the phone preview (namely ftc_app issue #574). This problem does not affect the TFOD camera stream even though it receives frames from Vuforia. The orientation of the stream frames may not always match the phone preview. For now, these frames may be rotated manually via a custom CameraStreamSource if desired. OnBotJava Browser back button may not always work correctly It's possible for a build to be queued, but not started. The OnBot Java build console will display a warning if this occurs. A user might not realize they are editing a different file if the user inadvertently switches from one file to another since this switch is now seamless. The name of the currently open file is displayed in the browser tab. Version 5.0 (built on 19.06.14) Support for the REV Robotics Control Hub. Adds a Java preview pane to the Blocks editor. Adds a new offline export feature to the Blocks editor. Display wifi channel in Network circle on Driver Station. Adds calibration for Logitech C270 Updates build tooling and target SDK. Compliance with Google's permissions infrastructure (Required after build tooling update). Keep Alives to mitigate the Motorola wifi scanning problem. Telemetry substitute no longer necessary. Improves Vuforia error reporting. Fixes ftctechnh/ftc_app issues 621, 713. Miscellaneous bug fixes and improvements. Version 4.3 (built on 18.10.31) Includes missing TensorFlow-related libraries and files. Version 4.2 (built on 18.10.30) Includes fix to avoid deadlock situation with WatchdogMonitor which could result in USB communication errors. Comm error appeared to require that user disconnect USB cable and restart the Robot Controller app to recover. robotControllerLog.txt would have error messages that included the words "E RobotCore: lynx xmit lock: #### abandoning lock:" Includes fix to correctly list the parent module address for a REV Robotics Expansion Hub in a configuration (.xml) file. Bug in versions 4.0 and 4.1 would incorrect list the address module for a parent REV Robotics device as "1". If the parent module had a higher address value than the daisy-chained module, then this bug would prevent the Robot Controller from communicating with the downstream Expansion Hub. Added requirement for ACCESS_COARSE_LOCATION to allow a Driver Station running Android Oreo to scan for Wi-Fi Direct devices. Added google() repo to build.gradle because aapt2 must be downloaded from the google() repository beginning with version 3.2 of the Android Gradle Plugin. Important Note: Android Studio users will need to be connected to the Internet the first time build the ftc_app project. Internet connectivity is required for the first build so the appropriate files can be downloaded from the Google repository. Users should not need to be connected to the Internet for subsequent builds. This should also fix buid issue where Android Studio would complain that it "Could not find com.android.tools.lint:lint-gradle:26.1.4" (or similar). Added support for REV Spark Mini motor controller as part of the configuration menu for a servo/PWM port on the REV Expansion Hub. Provide examples for playing audio files in an Op Mode. Block Development Tool Changes Includes a fix for a problem with the Velocity blocks that were reported in the FTC Technology forum (Blocks Programming subforum). Change the "Save completed successfully." message to a white color so it will contrast with a green background. Fixed the "Download image" feature so it will work if there are text blocks in the op mode. Introduce support for Google's TensorFlow Lite technology for object detetion for 2018-2019 game. TensorFlow lite can recognize Gold Mineral and Silver Mineral from 2018-2019 game. Example Java and Block op modes are included to show how to determine the relative position of the gold block (left, center, right). Version 4.1 (released on 18.09.24) Changes include: Fix to prevent crash when deprecated configuration annotations are used. Change to allow FTC Robot Controller APK to be auto-updated using FIRST Global Control Hub update scripts. Removed samples for non supported / non legal hardware. Improvements to Telemetry.addData block with "text" socket. Updated Blocks sample op mode list to include Rover Ruckus Vuforia example. Update SDK library version number. Version 4.0 (released on 18.09.12) Changes include: Initial support for UVC compatible cameras If UVC camera has a unique serial number, RC will detect and enumerate by serial number. If UVC camera lacks a unique serial number, RC will only support one camera of that type connected. Calibration settings for a few cameras are included (see TeamCode/src/main/res/xml/teamwebcamcalibrations.xml for details). User can upload calibration files from Program and Manage web interface. UVC cameras seem to draw a fair amount of electrical current from the USB bus. This does not appear to present any problems for the REV Robotics Control Hub. This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. Updated sample Vuforia Navigation and VuMark Op Modes to demonstrate how to use an internal phone-based camera and an external UVC webcam. Support for improved motor control. REV Robotics Expansion Hub firmware 1.8 and greater will support a feed forward mechanism for closed loop motor control. FTC SDK has been modified to support PIDF coefficients (proportional, integral, derivative, and feed forward). FTC Blocks development tool modified to include PIDF programming blocks. Deprecated older PID-related methods and variables. REV's 1.8.x PIDF-related changes provide a more linear and accurate way to control a motor. Wireless Added 5GHz support for wireless channel changing for those devices that support it. Tested with Moto G5 and E4 phones. Also tested with other (currently non-approved) phones such as Samsung Galaxy S8. Improved Expansion Hub firmware update support in Robot Controller app Changes to make the system more robust during the firmware update process (when performed through Robot Controller app). User no longer has to disconnect a downstream daisy-chained Expansion Hub when updating an Expansion Hub's firmware. If user is updating an Expansion Hub's firmware through a USB connection, he/she does not have to disconnect RS485 connection to other Expansion Hubs. The user still must use a USB connection to update an Expansion Hub's firmware. The user cannot update the Expansion Hub firmware for a downstream device that is daisy chained through an RS485 connection. If an Expansion Hub accidentally gets "bricked" the Robot Controller app is now more likely to recognize the Hub when it scans the USB bus. Robot Controller app should be able to detect an Expansion Hub, even if it accidentally was bricked in a previous update attempt. Robot Controller app should be able to install the firmware onto the Hub, even if if accidentally was bricked in a previous update attempt. Resiliency FTC software can detect and enable an FTDI reset feature that is available with REV Robotics v1.8 Expansion Hub firmware and greater. When enabled, the Expansion Hub can detect if it hasn't communicated with the Robot Controller over the FTDI (USB) connection. If the Hub hasn't heard from the Robot Controller in a while, it will reset the FTDI connection. This action helps system recover from some ESD-induced disruptions. Various fixes to improve reliability of FTC software. Blocks Fixed errors with string and list indices in blocks export to java. Support for USB connected UVC webcams. Refactored optimized Blocks Vuforia code to support Rover Ruckus image targets. Added programming blocks to support PIDF (proportional, integral, derivative and feed forward) motor control. Added formatting options (under Telemetry and Miscellaneous categories) so user can set how many decimal places to display a numerical value. Support to play audio files (which are uploaded through Blocks web interface) on Driver Station in addition to the Robot Controller. Fixed bug with Download Image of Blocks feature. Support for REV Robotics Blinkin LED Controller. Support for REV Robotics 2m Distance Sensor. Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). Added blocks for DcMotorEx methods. These are enhanced methods that you can use when supported by the motor controller hardware. The REV Robotics Expansion Hub supports these enhanced methods. Enhanced methods include methods to get/set motor velocity (in encoder pulses per second), get/set PIDF coefficients, etc.. Modest Improvements in Logging Decrease frequency of battery checker voltage statements. Removed non-FTC related log statements (wherever possible). Introduced a "Match Logging" feature. Under "Settings" a user can enable/disable this feature (it's disabled by default). If enabled, user provides a "Match Number" through the Driver Station user interface (top of the screen). The Match Number is used to create a log file specifically with log statements from that particular Op Mode run. Match log files are stored in /sdcard/FIRST/matlogs on the Robot Controller. Once an op mode run is complete, the Match Number is cleared. This is a convenient way to create a separate match log with statements only related to a specific op mode run. New Devices Support for REV Robotics Blinkin LED Controller. Support for REV Robotics 2m Distance Sensor. Added configuration option for REV 20:1 HD Hex Motor. Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). Miscellaneous Fixed some errors in the definitions for acceleration and velocity in our javadoc documentation. Added ability to play audio files on Driver Station When user is configuring an Expansion Hub, the LED on the Expansion Hub will change blink pattern (purple-cyan) to indicate which Hub is currently being configured. Renamed I2cSensorType to I2cDeviceType. Added an external sample Op Mode that demonstrates localization using 2018-2019 (Rover Ruckus presented by QualComm) Vuforia targets. Added an external sample Op Mode that demonstrates how to use the REV Robotics 2m Laser Distance Sensor. Added an external sample Op Mode that demonstrates how to use the REV Robotics Blinkin LED Controller. Re-categorized external Java sample Op Modes to "TeleOp" instead of "Autonomous". Known issues: Initial support for UVC compatible cameras UVC cameras seem to draw significant amount of current from the USB bus. This does not appear to present any problems for the REV Robotics Control Hub. This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. There might be a possible deadlock which causes the RC to become unresponsive when using a UVC webcam with a Nougat Android Robot Controller. Wireless When user selects a wireless channel, this channel does not necessarily persist if the phone is power cycled. Tech Team is hoping to eventually address this issue in a future release. Issue has been present since apps were introduced (i.e., it is not new with the v4.0 release). Wireless channel is not currently displayed for WiFi Direct connections. Miscellaneous The blink indication feature that shows which Expansion Hub is currently being configured does not work for a newly created configuration file. User has to first save a newly created configuration file and then close and re-edit the file in order for blink indicator to work. Version 3.6 (built on 17.12.18) Changes include: Blocks Changes Uses updated Google Blockly software to allow users to edit their op modes on Apple iOS devices (including iPad and iPhone). Improvement in Blocks tool to handle corrupt op mode files. Autonomous op modes should no longer get switched back to tele-op after re-opening them to be edited. The system can now detect type mismatches during runtime and alert the user with a message on the Driver Station. Updated javadoc documentation for setPower() method to reflect correct range of values (-1 to +1). Modified VuforiaLocalizerImpl to allow for user rendering of frames Added a user-overrideable onRenderFrame() method which gets called by the class's renderFrame() method. Version 3.5 (built on 17.10.30) Changes with version 3.5 include: Introduced a fix to prevent random op mode stops, which can occur after the Robot Controller app has been paused and then resumed (for example, when a user temporarily turns off the display of the Robot Controller phone, and then turns the screen back on). Introduced a fix to prevent random op mode stops, which were previously caused by random peer disconnect events on the Driver Station. Fixes issue where log files would be closed on pause of the RC or DS, but not re-opened upon resume. Fixes issue with battery handler (voltage) start/stop race. Fixes issue where Android Studio generated op modes would disappear from available list in certain situations. Fixes problem where OnBot Java would not build on REV Robotics Control Hub. Fixes problem where OnBot Java would not build if the date and time on the Robot Controller device was "rewound" (set to an earlier date/time). Improved error message on OnBot Java that occurs when renaming a file fails. Removed unneeded resources from android.jar binaries used by OnBot Java to reduce final size of Robot Controller app. Added MR_ANALOG_TOUCH_SENSOR block to Blocks Programming Tool. Version 3.4 (built on 17.09.06) Changes with version 3.4 include: Added telemetry.update() statement for BlankLinearOpMode template. Renamed sample Block op modes to be more consistent with Java samples. Added some additional sample Block op modes. Reworded OnBot Java readme slightly. Version 3.3 (built on 17.09.04) This version of the software includes improves for the FTC Blocks Programming Tool and the OnBot Java Programming Tool. Changes with verion 3.3 include: Android Studio ftc_app project has been updated to use Gradle Plugin 2.3.3. Android Studio ftc_app project is already using gradle 3.5 distribution. Robot Controller log has been renamed to /sdcard/RobotControllerLog.txt (note that this change was actually introduced w/ v3.2). Improvements in I2C reliability. Optimized I2C read for REV Expansion Hub, with v1.7 firmware or greater. Updated all external/samples (available through OnBot and in Android project folder). Vuforia Added support for VuMarks that will be used for the 2017-2018 season game. Blocks Update to latest Google Blockly release. Sample op modes can be selected as a template when creating new op mode. Fixed bug where the blocks would disappear temporarily when mouse button is held down. Added blocks for Range.clip and Range.scale. User can now disable/enable Block op modes. Fix to prevent occasional Blocks deadlock. OnBot Java Significant improvements with autocomplete function for OnBot Java editor. Sample op modes can be selected as a template when creating new op mode. Fixes and changes to complete hardware setup feature. Updated (and more useful) onBot welcome message. Known issues: Android Studio After updating to the new v3.3 Android Studio project folder, if you get error messages indicating "InvalidVirtualFileAccessException" then you might need to do a File->Invalidate Caches / Restart to clear the error. OnBot Java Sometimes when you push the build button to build all op modes, the RC returns an error message that the build failed. If you press the build button a second time, the build typically suceeds. Version 3.2 (built on 17.08.02) This version of the software introduces the "OnBot Java" Development Tool. Similar to the FTC Blocks Development Tool, the FTC OnBot Java Development Tool allows a user to create, edit and build op modes dynamically using only a Javascript-enabled web browser. The OnBot Java Development Tool is an integrated development environment (IDE) that is served up by the Robot Controller. Op modes are created and edited using a Javascript-enabled browser (Google Chromse is recommended). Op modes are saved on the Robot Controller Android device directly. The OnBot Java Development Tool provides a Java programming environment that does NOT need Android Studio. Changes with version 3.2 include: Enhanced web-based development tools Introduction of OnBot Java Development Tool. Web-based programming and management features are "always on" (user no longer needs to put Robot Controller into programming mode). Web-based management interface (where user can change Robot Controller name and also easily download Robot Controller log file). OnBot Java, Blocks and Management features available from web based interface. Blocks Programming Development Tool: Changed "LynxI2cColorRangeSensor" block to "REV Color/range sensor" block. Fixed tooltip for ColorSensor.isLightOn block. Added blocks for ColorSensor.getNormalizedColors and LynxI2cColorRangeSensor.getNormalizedColors. Added example op modes for digital touch sensor and REV Robotics Color Distance sensor. User selectable color themes. Includes many minor enhancements and fixes (too numerous to list). Known issues: Auto complete function is incomplete and does not support the following (for now): Access via this keyword Access via super keyword Members of the super cloass, not overridden by the class Any methods provided in the current class Inner classes Can't handle casted objects Any objects coming from an parenthetically enclosed expression Version 3.10 (built on 17.05.09) This version of the software provides support for the REV Robotics Expansion Hub. This version also includes improvements in the USB communication layer in an effort to enhance system resiliency. If you were using a 2.x version of the software previously, updating to version 3.1 requires that you also update your Driver Station software in addition to updating the Robot Controller software. Also note that in version 3.10 software, the setMaxSpeed and getMaxSpeed methods are no longer available (not deprecated, they have been removed from the SDK). Also note that the the new 3.x software incorporates motor profiles that a user can select as he/she configures the robot. Changes include: Blocks changes Added VuforiaTrackableDefaultListener.getPose and Vuforia.trackPose blocks. Added optimized blocks support for Vuforia extended tracking. Added atan2 block to the math category. Added useCompetitionFieldTargetLocations parameter to Vuforia.initialize block. If set to false, the target locations are placed at (0,0,0) with target orientation as specified in https://github.com/gearsincorg/FTCVuforiaDemo/blob/master/Robot_Navigation.java tutorial op mode. Incorporates additional improvements to USB comm layer to improve system resiliency (to recover from a greater number of communication disruptions). Additional Notes Regarding Version 3.00 (built on 17.04.13) In addition to the release changes listed below (see section labeled "Version 3.00 (built on 17.04.013)"), version 3.00 has the following important changes: Version 3.00 software uses a new version of the FTC Robocol (robot protocol). If you upgrade to v3.0 on the Robot Controller and/or Android Studio side, you must also upgrade the Driver Station software to match the new Robocol. Version 3.00 software removes the setMaxSpeed and getMaxSpeed methods from the DcMotor class. If you have an op mode that formerly used these methods, you will need to remove the references/calls to these methods. Instead, v3.0 provides the max speed information through the use of motor profiles that are selected by the user during robot configuration. Version 3.00 software currently does not have a mechanism to disable extra i2c sensors. We hope to re-introduce this function with a release in the near future. Version 3.00 (built on 17.04.13) *** Use this version of the software at YOUR OWN RISK!!! *** This software is being released as an "alpha" version. Use this version at your own risk! This pre-release software contains SIGNIFICANT changes, including changes to the Wi-Fi Direct pairing mechanism, rewrites of the I2C sensor classes, changes to the USB/FTDI layer, and the introduction of support for the REV Robotics Expansion Hub and the REV Robotics color-range-light sensor. These changes were implemented to improve the reliability and resiliency of the FTC control system. Please note, however, that version 3.00 is considered "alpha" code. This code is being released so that the FIRST community will have an opportunity to test the new REV Expansion Hub electronics module when it becomes available in May. The developers do not recommend using this code for critical applications (i.e., competition use). *** Use this version of the software at YOUR OWN RISK!!! *** Changes include: Major rework of sensor-related infrastructure. Includes rewriting sensor classes to implement synchronous I2C communication. Fix to reset Autonomous timer back to 30 seconds. Implementation of specific motor profiles for approved 12V motors (includes Tetrix, AndyMark, Matrix and REV models). Modest improvements to enhance Wi-Fi P2P pairing. Fixes telemetry log addition race. Publishes all the sources (not just a select few). Includes Block programming improvements Addition of optimized Vuforia blocks. Auto scrollbar to projects and sounds pages. Fixed blocks paste bug. Blocks execute after while-opModeIsActive loop (to allow for cleanup before exiting op mode). Added gyro integratedZValue block. Fixes bug with projects page for Firefox browser. Added IsSpeaking block to AndroidTextToSpeech. Implements support for the REV Robotics Expansion Hub Implements support for integral REV IMU (physically installed on I2C bus 0, uses same Bosch BNO055 9 axis absolute orientation sensor as Adafruit 9DOF abs orientation sensor). - Implements support for REV color/range/light sensor. Provides support to update Expansion Hub firmware through FTC SDK. Detects REV firmware version and records in log file. Includes support for REV Control Hub (note that the REV Control Hub is not yet approved for FTC use). Implements FTC Blocks programming support for REV Expansion Hub and sensor hardware. Detects and alerts when I2C device disconnect. Version 2.62 (built on 17.01.07) Added null pointer check before calling modeToByte() in finishModeSwitchIfNecessary method for ModernRoboticsUsbDcMotorController class. Changes to enhance Modern Robotics USB protocol robustness. Version 2.61 (released on 16.12.19) Blocks Programming mode changes: Fix to correct issue when an exception was thrown because an OpticalDistanceSensor object appears twice in the hardware map (the second time as a LightSensor). Version 2.6 (released on 16.12.16) Fixes for Gyro class: Improve (decrease) sensor refresh latency. fix isCalibrating issues. Blocks Programming mode changes: Blocks now ignores a device in the configuration xml if the name is empty. Other devices work in configuration work fine. Version 2.5 (internal release on released on 16.12.13) Blocks Programming mode changes: Added blocks support for AdafruitBNO055IMU. Added Download Op Mode button to FtcBocks.html. Added support for copying blocks in one OpMode and pasting them in an other OpMode. The clipboard content is stored on the phone, so the programming mode server must be running. Modified Utilities section of the toolbox. In Programming Mode, display information about the active connections. Fixed paste location when workspace has been scrolled. Added blocks support for the android Accelerometer. Fixed issue where Blocks Upload Op Mode truncated name at first dot. Added blocks support for Android SoundPool. Added type safety to blocks for Acceleration. Added type safety to blocks for AdafruitBNO055IMU.Parameters. Added type safety to blocks for AnalogInput. Added type safety to blocks for AngularVelocity. Added type safety to blocks for Color. Added type safety to blocks for ColorSensor. Added type safety to blocks for CompassSensor. Added type safety to blocks for CRServo. Added type safety to blocks for DigitalChannel. Added type safety to blocks for ElapsedTime. Added type safety to blocks for Gamepad. Added type safety to blocks for GyroSensor. Added type safety to blocks for IrSeekerSensor. Added type safety to blocks for LED. Added type safety to blocks for LightSensor. Added type safety to blocks for LinearOpMode. Added type safety to blocks for MagneticFlux. Added type safety to blocks for MatrixF. Added type safety to blocks for MrI2cCompassSensor. Added type safety to blocks for MrI2cRangeSensor. Added type safety to blocks for OpticalDistanceSensor. Added type safety to blocks for Orientation. Added type safety to blocks for Position. Added type safety to blocks for Quaternion. Added type safety to blocks for Servo. Added type safety to blocks for ServoController. Added type safety to blocks for Telemetry. Added type safety to blocks for Temperature. Added type safety to blocks for TouchSensor. Added type safety to blocks for UltrasonicSensor. Added type safety to blocks for VectorF. Added type safety to blocks for Velocity. Added type safety to blocks for VoltageSensor. Added type safety to blocks for VuforiaLocalizer.Parameters. Added type safety to blocks for VuforiaTrackable. Added type safety to blocks for VuforiaTrackables. Added type safety to blocks for enums in AdafruitBNO055IMU.Parameters. Added type safety to blocks for AndroidAccelerometer, AndroidGyroscope, AndroidOrientation, and AndroidTextToSpeech. Version 2.4 (released on 16.11.13) Fix to avoid crashing for nonexistent resources. Blocks Programming mode changes: Added blocks to support OpenGLMatrix, MatrixF, and VectorF. Added blocks to support AngleUnit, AxesOrder, AxesReference, CameraDirection, CameraMonitorFeedback, DistanceUnit, and TempUnit. Added blocks to support Acceleration. Added blocks to support LinearOpMode.getRuntime. Added blocks to support MagneticFlux and Position. Fixed typos. Made blocks for ElapsedTime more consistent with other objects. Added blocks to support Quaternion, Velocity, Orientation, AngularVelocity. Added blocks to support VuforiaTrackables, VuforiaTrackable, VuforiaLocalizer, VuforiaTrackableDefaultListener. Fixed a few blocks. Added type checking to new blocks. Updated to latest blockly. Added default variable blocks to navigation and matrix blocks. Fixed toolbox entry for openGLMatrix_rotation_withAxesArgs. When user downloads Blocks-generated op mode, only the .blk file is downloaded. When user uploads Blocks-generated op mode (.blk file), Javascript code is auto generated. Added DbgLog support. Added logging when a blocks file is read/written. Fixed bug to properly render blocks even if missing devices from configuration file. Added support for additional characters (not just alphanumeric) for the block file names (for download and upload). Added support for OpMode flavor (“Autonomous” or “TeleOp”) and group. Changes to Samples to prevent tutorial issues. Incorporated suggested changes from public pull 216 (“Replace .. paths”). Remove Servo Glitches when robot stopped. if user hits “Cancels” when editing a configuration file, clears the unsaved changes and reverts to original unmodified configuration. Added log info to help diagnose why the Robot Controller app was terminated (for example, by watch dog function). Added ability to transfer log from the controller. Fixed inconsistency for AngularVelocity Limit unbounded growth of data for telemetry. If user does not call telemetry.update() for LinearOpMode in a timely manner, data added for telemetry might get lost if size limit is exceeded. Version 2.35 (released on 16.10.06) Blockly programming mode - Removed unnecesary idle() call from blocks for new project. Version 2.30 (released on 16.10.05) Blockly programming mode: Mechanism added to save Blockly op modes from Programming Mode Server onto local device To avoid clutter, blocks are displayed in categorized folders Added support for DigitalChannel Added support for ModernRoboticsI2cCompassSensor Added support for ModernRoboticsI2cRangeSensor Added support for VoltageSensor Added support for AnalogInput Added support for AnalogOutput Fix for CompassSensor setMode block Vuforia Fix deadlock / make camera data available while Vuforia is running. Update to Vuforia 6.0.117 (recommended by Vuforia and Google to close security loophole). Fix for autonomous 30 second timer bug (where timer was in effect, even though it appeared to have timed out). opModeIsActive changes to allow cleanup after op mode is stopped (with enforced 2 second safety timeout). Fix to avoid reading i2c twice. Updated sample Op Modes. Improved logging and fixed intermittent freezing. Added digital I/O sample. Cleaned up device names in sample op modes to be consistent with Pushbot guide. Fix to allow use of IrSeekerSensorV3. Version 2.20 (released on 16.09.08) Support for Modern Robotics Compass Sensor. Support for Modern Robotics Range Sensor. Revise device names for Pushbot templates to match the names used in Pushbot guide. Fixed bug so that IrSeekerSensorV3 device is accessible as IrSeekerSensor in hardwareMap. Modified computer vision code to require an individual Vuforia license (per legal requirement from PTC). Minor fixes. Blockly enhancements: Support for Voltage Sensor. Support for Analog Input. Support for Analog Output. Support for Light Sensor. Support for Servo Controller. Version 2.10 (released on 16.09.03) Support for Adafruit IMU. Improvements to ModernRoboticsI2cGyro class Block on reset of z axis. isCalibrating() returns true while gyro is calibration. Updated sample gyro program. Blockly enhancements support for android.graphics.Color. added support for ElapsedTime. improved look and legibility of blocks. support for compass sensor. support for ultrasonic sensor. support for IrSeeker. support for LED. support for color sensor. support for CRServo prompt user to configure robot before using programming mode. Provides ability to disable audio cues. various bug fixes and improvements. Version 2.00 (released on 16.08.19) This is the new release for the upcoming 2016-2017 FIRST Tech Challenge Season. Channel change is enabled in the FTC Robot Controller app for Moto G 2nd and 3rd Gen phones. Users can now use annotations to register/disable their Op Modes. Changes in the Android SDK, JDK and build tool requirements (minsdk=19, java 1.7, build tools 23.0.3). Standardized units in analog input. Cleaned up code for existing analog sensor classes. setChannelMode and getChannelMode were REMOVED from the DcMotorController class. This is important - we no longer set the motor modes through the motor controller. setMode and getMode were added to the DcMotor class. ContinuousRotationServo class has been added to the FTC SDK. Range.clip() method has been overloaded so it can support this operation for int, short and byte integers. Some changes have been made (new methods added) on how a user can access items from the hardware map. Users can now set the zero power behavior for a DC motor so that the motor will brake or float when power is zero. Prototype Blockly Programming Mode has been added to FTC Robot Controller. Users can place the Robot Controller into this mode, and then use a device (such as a laptop) that has a Javascript enabled browser to write Blockly-based Op Modes directly onto the Robot Controller. Users can now configure the robot remotely through the FTC Driver Station app. Android Studio project supports Android Studio 2.1.x and compile SDK Version 23 (Marshmallow). Vuforia Computer Vision SDK integrated into FTC SDK. Users can use sample vision targets to get localization information on a standard FTC field. Project structure has been reorganized so that there is now a TeamCode package that users can use to place their local/custom Op Modes into this package. Inspection function has been integrated into the FTC Robot Controller and Driver Station Apps (Thanks Team HazMat… 9277 & 10650!). Audio cues have been incorporated into FTC SDK. Swap mechanism added to FTC Robot Controller configuration activity. For example, if you have two motor controllers on a robot, and you misidentified them in your configuration file, you can use the Swap button to swap the devices within the configuration file (so you do not have to manually re-enter in the configuration info for the two devices). Fix mechanism added to all user to replace an electronic module easily. For example, suppose a servo controller dies on your robot. You replace the broken module with a new module, which has a different serial number from the original servo controller. You can use the Fix button to automatically reconfigure your configuration file to use the serial number of the new module. Improvements made to fix resiliency and responsiveness of the system. For LinearOpMode the user now must for a telemetry.update() to update the telemetry data on the driver station. This update() mechanism ensures that the driver station gets the updated data properly and at the same time. The Auto Configure function of the Robot Controller is now template based. If there is a commonly used robot configuration, a template can be created so that the Auto Configure mechanism can be used to quickly configure a robot of this type. The logic to detect a runaway op mode (both in the LinearOpMode and OpMode types) and to abort the run, then auto recover has been improved/implemented. Fix has been incorporated so that Logitech F310 gamepad mappings will be correct for Marshmallow users. Release 16.07.08 For the ftc_app project, the gradle files have been modified to support Android Studio 2.1.x. Release 16.03.30 For the MIT App Inventor, the design blocks have new icons that better represent the function of each design component. Some changes were made to the shutdown logic to ensure the robust shutdown of some of our USB services. A change was made to LinearOpMode so as to allow a given instance to be executed more than once, which is required for the App Inventor. Javadoc improved/updated. Release 16.03.09 Changes made to make the FTC SDK synchronous (significant change!) waitOneFullHardwareCycle() and waitForNextHardwareCycle() are no longer needed and have been deprecated. runOpMode() (for a LinearOpMode) is now decoupled from the system's hardware read/write thread. loop() (for an OpMode) is now decoupled from the system's hardware read/write thread. Methods are synchronous. For example, if you call setMode(DcMotorController.RunMode.RESET_ENCODERS) for a motor, the encoder is guaranteed to be reset when the method call is complete. For legacy module (NXT compatible), user no longer has to toggle between read and write modes when reading from or writing to a legacy device. Changes made to enhance reliability/robustness during ESD event. Changes made to make code thread safe. Debug keystore added so that user-generated robot controller APKs will all use the same signed key (to avoid conflicts if a team has multiple developer laptops for example). Firmware version information for Modern Robotics modules are now logged. Changes made to improve USB comm reliability and robustness. Added support for voltage indicator for legacy (NXT-compatible) motor controllers. Changes made to provide auto stop capabilities for op modes. A LinearOpMode class will stop when the statements in runOpMode() are complete. User does not have to push the stop button on the driver station. If an op mode is stopped by the driver station, but there is a run away/uninterruptible thread persisting, the app will log an error message then force itself to crash to stop the runaway thread. Driver Station UI modified to display lowest measured voltage below current voltage (12V battery). Driver Station UI modified to have color background for current voltage (green=good, yellow=caution, red=danger, extremely low voltage). javadoc improved (edits and additional classes). Added app build time to About activity for driver station and robot controller apps. Display local IP addresses on Driver Station About activity. Added I2cDeviceSynchImpl. Added I2cDeviceSync interface. Added seconds() and milliseconds() to ElapsedTime for clarity. Added getCallbackCount() to I2cDevice. Added missing clearI2cPortActionFlag. Added code to create log messages while waiting for LinearOpMode shutdown. Fix so Wifi Direct Config activity will no longer launch multiple times. Added the ability to specify an alternate i2c address in software for the Modern Robotics gyro. Release 16.02.09 Improved battery checker feature so that voltage values get refreshed regularly (every 250 msec) on Driver Station (DS) user interface. Improved software so that Robot Controller (RC) is much more resilient and “self-healing” to USB disconnects: If user attempts to start/restart RC with one or more module missing, it will display a warning but still start up. When running an op mode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s). If a disconnected module gets physically reconnected the RC will auto detect the module and the user will regain control of the recently connected module. Warning messages are more helpful (identifies the type of module that’s missing plus its USB serial number). Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their op mode. NXT light sensor output is now properly scaled. Note that teams might have to readjust their light threshold values in their op modes. On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver. Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps. Incorporated a display filter on pairing screen to filter out devices that don’t use the “-“ format. This filter can be turned off to show all WiFi Direct devices. Updated text in License file. Fixed formatting error in OpticalDistanceSensor.toString(). Fixed issue on with a blank (“”) device name that would disrupt WiFi Direct Pairing. Made a change so that the WiFi info and battery info can be displayed more quickly on the DS upon connecting to RC. Improved javadoc generation. Modified code to make it easier to support language localization in the future. Release 16.01.04 Updated compileSdkVersion for apps Prevent Wifi from entering power saving mode removed unused import from driver station Corrrected "Dead zone" joystick code. LED.getDeviceName and .getConnectionInfo() return null apps check for ROBOCOL_VERSION mismatch Fix for Telemetry also has off-by-one errors in its data string sizing / short size limitations error User telemetry output is sorted. added formatting variants to DbgLog and RobotLog APIs code modified to allow for a long list of op mode names. changes to improve thread safety of RobocolDatagramSocket Fix for "missing hardware leaves robot controller disconnected from driver station" error fix for "fast tapping of Init/Start causes problems" (toast is now only instantiated on UI thread). added some log statements for thread life cycle. moved gamepad reset logic inside of initActiveOpMode() for robustness changes made to mitigate risk of race conditions on public methods. changes to try and flag when WiFi Direct name contains non-printable characters. fix to correct race condition between .run() and .close() in ReadWriteRunnableStandard. updated FTDI driver made ReadWriteRunnableStanard interface public. fixed off-by-one errors in Command constructor moved specific hardware implmentations into their own package. moved specific gamepad implemnatations to the hardware library. changed LICENSE file to new BSD version. fixed race condition when shutting down Modern Robotics USB devices. methods in the ColorSensor classes have been synchronized. corrected isBusy() status to reflect end of motion. corrected "back" button keycode. the notSupported() method of the GyroSensor class was changed to protected (it should not be public). Release 15.11.04.001 Added Support for Modern Robotics Gyro. The GyroSensor class now supports the MR Gyro Sensor. Users can access heading data (about Z axis) Users can also access raw gyro data (X, Y, & Z axes). Example MRGyroTest.java op mode included. Improved error messages More descriptive error messages for exceptions in user code. Updated DcMotor API Enable read mode on new address in setI2cAddress Fix so that driver station app resets the gamepads when switching op modes. USB-related code changes to make USB comm more responsive and to display more explicit error messages. Fix so that USB will recover properly if the USB bus returns garbage data. Fix USB initializtion race condition. Better error reporting during FTDI open. More explicit messages during USB failures. Fixed bug so that USB device is closed if event loop teardown method was not called. Fixed timer UI issue Fixed duplicate name UI bug (Legacy Module configuration). Fixed race condition in EventLoopManager. Fix to keep references stable when updating gamepad. For legacy Matrix motor/servo controllers removed necessity of appending "Motor" and "Servo" to controller names. Updated HT color sensor driver to use constants from ModernRoboticsUsbLegacyModule class. Updated MR color sensor driver to use constants from ModernRoboticsUsbDeviceInterfaceModule class. Correctly handle I2C Address change in all color sensors Updated/cleaned up op modes. Updated comments in LinearI2cAddressChange.java example op mode. Replaced the calls to "setChannelMode" with "setMode" (to match the new of the DcMotor method). Removed K9AutoTime.java op mode. Added MRGyroTest.java op mode (demonstrates how to use MR Gyro Sensor). Added MRRGBExample.java op mode (demonstrates how to use MR Color Sensor). Added HTRGBExample.java op mode (demonstrates how to use HT legacy color sensor). Added MatrixControllerDemo.java (demonstrates how to use legacy Matrix controller). Updated javadoc documentation. Updated release .apk files for Robot Controller and Driver Station apps. Release 15.10.06.002 Added support for Legacy Matrix 9.6V motor/servo controller. Cleaned up build.gradle file. Minor UI and bug fixes for driver station and robot controller apps. Throws error if Ultrasonic sensor (NXT) is not configured for legacy module port 4 or 5. Release 15.08.03.001 New user interfaces for FTC Driver Station and FTC Robot Controller apps. An init() method is added to the OpMode class. For this release, init() is triggered right before the start() method. Eventually, the init() method will be triggered when the user presses an "INIT" button on driver station. The init() and loop() methods are now required (i.e., need to be overridden in the user's op mode). The start() and stop() methods are optional. A new LinearOpMode class is introduced. Teams can use the LinearOpMode mode to create a linear (not event driven) program model. Teams can use blocking statements like Thread.sleep() within a linear op mode. The API for the Legacy Module and Core Device Interface Module have been updated. Support for encoders with the Legacy Module is now working. The hardware loop has been updated for better performance.
boostorg / Safe NumericsReplacements to standard numeric types which throw exceptions on errors
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sanusanth / Python Basic ProgramsWhat is Python? Executive Summary Python is an interpreted, object-oriented, high-level programming language with dynamic semantics. Its high-level built in data structures, combined with dynamic typing and dynamic binding, make it very attractive for Rapid Application Development, as well as for use as a scripting or glue language to connect existing components together. Python's simple, easy to learn syntax emphasizes readability and therefore reduces the cost of program maintenance. Python supports modules and packages, which encourages program modularity and code reuse. The Python interpreter and the extensive standard library are available in source or binary form without charge for all major platforms, and can be freely distributed. Often, programmers fall in love with Python because of the increased productivity it provides. Since there is no compilation step, the edit-test-debug cycle is incredibly fast. Debugging Python programs is easy: a bug or bad input will never cause a segmentation fault. Instead, when the interpreter discovers an error, it raises an exception. When the program doesn't catch the exception, the interpreter prints a stack trace. A source level debugger allows inspection of local and global variables, evaluation of arbitrary expressions, setting breakpoints, stepping through the code a line at a time, and so on. The debugger is written in Python itself, testifying to Python's introspective power. On the other hand, often the quickest way to debug a program is to add a few print statements to the source: the fast edit-test-debug cycle makes this simple approach very effective. What is Python? Python is a popular programming language. It was created by Guido van Rossum, and released in 1991. It is used for: web development (server-side), software development, mathematics, system scripting. What can Python do? Python can be used on a server to create web applications. Python can be used alongside software to create workflows. Python can connect to database systems. It can also read and modify files. Python can be used to handle big data and perform complex mathematics. Python can be used for rapid prototyping, or for production-ready software development. Why Python? Python works on different platforms (Windows, Mac, Linux, Raspberry Pi, etc). Python has a simple syntax similar to the English language. Python has syntax that allows developers to write programs with fewer lines than some other programming languages. Python runs on an interpreter system, meaning that code can be executed as soon as it is written. This means that prototyping can be very quick. Python can be treated in a procedural way, an object-oriented way or a functional way. Good to know The most recent major version of Python is Python 3, which we shall be using in this tutorial. However, Python 2, although not being updated with anything other than security updates, is still quite popular. In this tutorial Python will be written in a text editor. It is possible to write Python in an Integrated Development Environment, such as Thonny, Pycharm, Netbeans or Eclipse which are particularly useful when managing larger collections of Python files. Python Syntax compared to other programming languages Python was designed for readability, and has some similarities to the English language with influence from mathematics. Python uses new lines to complete a command, as opposed to other programming languages which often use semicolons or parentheses. Python relies on indentation, using whitespace, to define scope; such as the scope of loops, functions and classes. Other programming languages often use curly-brackets for this purpose. Applications for Python Python is used in many application domains. Here's a sampling. The Python Package Index lists thousands of third party modules for Python. Web and Internet Development Python offers many choices for web development: Frameworks such as Django and Pyramid. Micro-frameworks such as Flask and Bottle. Advanced content management systems such as Plone and django CMS. Python's standard library supports many Internet protocols: HTML and XML JSON E-mail processing. Support for FTP, IMAP, and other Internet protocols. Easy-to-use socket interface. And the Package Index has yet more libraries: Requests, a powerful HTTP client library. Beautiful Soup, an HTML parser that can handle all sorts of oddball HTML. Feedparser for parsing RSS/Atom feeds. Paramiko, implementing the SSH2 protocol. Twisted Python, a framework for asynchronous network programming. Scientific and Numeric Python is widely used in scientific and numeric computing: SciPy is a collection of packages for mathematics, science, and engineering. Pandas is a data analysis and modeling library. IPython is a powerful interactive shell that features easy editing and recording of a work session, and supports visualizations and parallel computing. The Software Carpentry Course teaches basic skills for scientific computing, running bootcamps and providing open-access teaching materials. Education Python is a superb language for teaching programming, both at the introductory level and in more advanced courses. Books such as How to Think Like a Computer Scientist, Python Programming: An Introduction to Computer Science, and Practical Programming. The Education Special Interest Group is a good place to discuss teaching issues. Desktop GUIs The Tk GUI library is included with most binary distributions of Python. Some toolkits that are usable on several platforms are available separately: wxWidgets Kivy, for writing multitouch applications. Qt via pyqt or pyside Platform-specific toolkits are also available: GTK+ Microsoft Foundation Classes through the win32 extensions Software Development Python is often used as a support language for software developers, for build control and management, testing, and in many other ways. SCons for build control. Buildbot and Apache Gump for automated continuous compilation and testing. Roundup or Trac for bug tracking and project management. Business Applications Python is also used to build ERP and e-commerce systems: Odoo is an all-in-one management software that offers a range of business applications that form a complete suite of enterprise management applications. Try ton is a three-tier high-level general purpose application platform.
Geng-Hao / Robust Model Free Iterative Learning Control With Convergence Rate AccelerationA novel model-free iterative learning control algorithm is presented in this project to improve both the robustness against output disturbances and the tracking performance in steady-state. For model-free ILC, several methods have been investigated, such as the time- reversal error filtering, the Model-Free Inversion-based Iterative Control (MFIIC), and the Non- Linear Inversion-based Iterative Control (NLIIC). However, the time-reversal error filtering has a conservative learning rate. Other two methods, although with much faster error convergence, have either a high noise sensitivity or a non-optimized steady-state. To improve the performance and robustness of model-free ILC, in this project we apply the time-reversal based ILC algorithm and recursively accelerate its error convergence using the online identified learning filter. The effectiveness of the proposed algorithm has been validated from a numerical simulation. The proposed approach not only improves the transient response of the MFIIC, but also achieves lower tracking error in steady-state compared to that of the NLIIC.
Walid-khaled / 6DOF Robot Trajectory PlanningIn this repository, trajectory planning for a 6DOF manipulator is implemented. Synchronization and numerical control are applied. In addition, propagated error in end-effector position is calculated. Finally, polynomial trajectory and trajectory junction are solved. The repository is also a solution for Assignment3 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.
Hazrat-Ali9 / Numerical Analysis With MATLAB✈ Numerical Analysis using MATLAB 🚁 Perfect students engineers 🛥 and researchers looking to 🚕 solve complex mathematical 🚒 problems computationally 🪆root finding interpolation 🎮 integration ODEs linear systems 🎳 plots error analysis 🧵 algorithm breakdowns and 🪀 visualizations academic projects 🧸 simulations and real-world applications🔫
mrossini-ethz / Physical QuantitiesA common lisp library that provides a numeric type with optional unit and/or uncertainty for computations with automatic error propagation.
jsspencer / Testcodetestcode is a python module for testing for regression errors in numerical (principally scientific) software.
arpra-project / ArpraArpra is a C library for analyzing the propagation of numerical error in arbitrary precision IEEE-754 floating-point computations.
sanusanth / C Basic Simple ProgramWhat is C++? C++ is a general-purpose, object-oriented programming language. It was created by Bjarne Stroustrup at Bell Labs circa 1980. C++ is very similar to C (invented by Dennis Ritchie in the early 1970s). C++ is so compatible with C that it will probably compile over 99% of C programs without changing a line of source code. Though C++ is a lot of well-structured and safer language than C as it OOPs based. Some computer languages are written for a specific purpose. Like, Java was initially devised to control toasters and some other electronics. C was developed for programming OS. Pascal was conceptualized to teach proper programming techniques. But C++ is a general-purpose language. It well deserves the widely acknowledged nickname "Swiss Pocket Knife of Languages." C++ is a cross-platform language that can be used to create high-performance applications. C++ was developed by Bjarne Stroustrup, as an extension to the C language. C++ gives programmers a high level of control over system resources and memory. The language was updated 3 major times in 2011, 2014, and 2017 to C++11, C++14, and C++17. About C++ Programming Multi-paradigm Language - C++ supports at least seven different styles of programming. Developers can choose any of the styles. General Purpose Language - You can use C++ to develop games, desktop apps, operating systems, and so on. Speed - Like C programming, the performance of optimized C++ code is exceptional. Object-oriented - C++ allows you to divide complex problems into smaller sets by using objects. Why Learn C++? C++ is used to develop games, desktop apps, operating systems, browsers, and so on because of its performance. After learning C++, it will be much easier to learn other programming languages like Java, Python, etc. C++ helps you to understand the internal architecture of a computer, how computer stores and retrieves information. How to learn C++? C++ tutorial from Programiz - We provide step by step C++ tutorials, examples, and references. Get started with C++. Official C++ documentation - Might be hard to follow and understand for beginners. Visit official C++ documentation. Write a lot of C++ programming code- The only way you can learn programming is by writing a lot of code. Read C++ code- Join Github's open-source projects and read other people's code. C++ best programming language? The answer depends on perspective and requirements. Some tasks can be done in C++, though not very quickly. For example, designing GUI screens for applications. Other languages like Visual Basic, Python have GUI design elements built into them. Therefore, they are better suited for GUI type of task. Some of the scripting languages that provide extra programmability to applications. Such as MS Word and even photoshop tend to be variants of Basic, not C++. C++ is still used widely, and the most famous software have their backbone in C++. This tutorial will help you learn C++ basic and the advanced concepts. Who uses C++? Some of today's most visible used systems have their critical parts written in C++. Examples are Amadeus (airline ticketing) Bloomberg (financial formation), Amazon (Web commerce), Google (Web search) Facebook (social media) Many programming languages depend on C++'s performance and reliability in their implementation. Examples include: Java Virtual Machines JavaScript interpreters (e.g., Google's V8) Browsers (e.g., Internet Explorer, Mozilla's Firefox, Apple's Safari, and Google's Chrome) Application and Web frameworks (e.g., Microsoft's .NET Web services framework). Applications that involve local and wide area networks, user interaction, numeric, graphics, and database access highly depend on C++ language. Why Use C++ C++ is one of the world's most popular programming languages. C++ can be found in today's operating systems, Graphical User Interfaces, and embedded systems. C++ is an object-oriented programming language which gives a clear structure to programs and allows code to be reused, lowering development costs. C++ is portable and can be used to develop applications that can be adapted to multiple platforms. C++ is fun and easy to learn! As C++ is close to C# and Java, it makes it easy for programmers to switch to C++ or vice versa Definition - What does C++ Programming Language mean? C++ is an object oriented computer language created by notable computer scientist Bjorne Stroustrop as part of the evolution of the C family of languages. Some call C++ “C with classes” because it introduces object oriented programming principles, including the use of defined classes, to the C programming language framework. C++ is pronounced "see-plus-plus." C++ Variables Variables are the backbone of any programming language. A variable is merely a way to store some information for later use. We can retrieve this value or data by referring to a "word" that will describe this information. Once declared and defined they may be used many times within the scope in which they were declared. C++ Control Structures When a program runs, the code is read by the compiler line by line (from top to bottom, and for the most part left to right). This is known as "code flow." When the code is being read from top to bottom, it may encounter a point where it needs to make a decision. Based on the decision, the program may jump to a different part of the code. It may even make the compiler re-run a specific piece again, or just skip a bunch of code. You could think of this process like if you were to choose from different courses from Guru99. You decide, click a link and skip a few pages. In the same way, a computer program has a set of strict rules to decide the flow of program execution. C++ Syntax The syntax is a layout of words, expression, and symbols. Well, it's because an email address has its well-defined syntax. You need some combination of letters, numbers, potentially with underscores (_) or periods (.) in between, followed by an at the rate (@) symbol, followed by some website domain (company.com). So, syntax in a programming language is much the same. They are some well-defined set of rules that allow you to create some piece of well-functioning software. But, if you don't abide by the rules of a programming language or syntax, you'll get errors. C++ Tools In the real world, a tool is something (usually a physical object) that helps you to get a certain job done promptly. Well, this holds true with the programming world too. A tool in programming is some piece of software which when used with the code allows you to program faster. There are probably tens of thousands, if not millions of different tools across all the programming languages. Most crucial tool, considered by many, is an IDE, an Integrated Development Environment. An IDE is a software which will make your coding life so much easier. IDEs ensure that your files and folders are organized and give you a nice and clean way to view them. Types of C++ Errors Another way to look at C++ in a practical sense is to start enumerating different kinds of errors that occur as the written code makes its way to final execution. First, there are syntax errors where the code is actually written in an illegible way. This can be a misuse of punctuation, or the misspelling of a function command or anything else that compromises the integrity of the syntax as it is written. Another fundamental type of error is a compiler error that simply tells the programmer the compiler was not able to do its work effectively. As a compiler language, C++ relies on the compiler to make the source code into machine readable code and optimize it in various ways. A third type of error happens after the program has been successfully compiled. Runtime errors are not uncommon in C++ executables. What they represent is some lack of designated resource or non-working command in the executable program. In other words, the syntax is right, and the program was compiled successfully, but as the program is doing its work, it encounters a problem, whether that has to do with interdependencies, operating system requirements or anything else in the general environment in which the program is trying to work. Over time, C++ has remained a very useful language not only in computer programming itself, but in teaching new programmers about how object oriented programming works.
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etherceo1x1 / CodesBUILD YOUR OWN BLOCKCHAIN: A PYTHON TUTORIAL Download the full Jupyter/iPython notebook from Github here Build Your Own Blockchain – The Basics¶ This tutorial will walk you through the basics of how to build a blockchain from scratch. Focusing on the details of a concrete example will provide a deeper understanding of the strengths and limitations of blockchains. For a higher-level overview, I’d recommend this excellent article from BitsOnBlocks. Transactions, Validation, and updating system state¶ At its core, a blockchain is a distributed database with a set of rules for verifying new additions to the database. We’ll start off by tracking the accounts of two imaginary people: Alice and Bob, who will trade virtual money with each other. We’ll need to create a transaction pool of incoming transactions, validate those transactions, and make them into a block. We’ll be using a hash function to create a ‘fingerprint’ for each of our transactions- this hash function links each of our blocks to each other. To make this easier to use, we’ll define a helper function to wrap the python hash function that we’re using. In [1]: import hashlib, json, sys def hashMe(msg=""): # For convenience, this is a helper function that wraps our hashing algorithm if type(msg)!=str: msg = json.dumps(msg,sort_keys=True) # If we don't sort keys, we can't guarantee repeatability! if sys.version_info.major == 2: return unicode(hashlib.sha256(msg).hexdigest(),'utf-8') else: return hashlib.sha256(str(msg).encode('utf-8')).hexdigest() Next, we want to create a function to generate exchanges between Alice and Bob. We’ll indicate withdrawals with negative numbers, and deposits with positive numbers. We’ll construct our transactions to always be between the two users of our system, and make sure that the deposit is the same magnitude as the withdrawal- i.e. that we’re neither creating nor destroying money. In [2]: import random random.seed(0) def makeTransaction(maxValue=3): # This will create valid transactions in the range of (1,maxValue) sign = int(random.getrandbits(1))*2 - 1 # This will randomly choose -1 or 1 amount = random.randint(1,maxValue) alicePays = sign * amount bobPays = -1 * alicePays # By construction, this will always return transactions that respect the conservation of tokens. # However, note that we have not done anything to check whether these overdraft an account return {u'Alice':alicePays,u'Bob':bobPays} Now let’s create a large set of transactions, then chunk them into blocks. In [3]: txnBuffer = [makeTransaction() for i in range(30)] Next step: making our very own blocks! We’ll take the first k transactions from the transaction buffer, and turn them into a block. Before we do that, we need to define a method for checking the valididty of the transactions we’ve pulled into the block. For bitcoin, the validation function checks that the input values are valid unspent transaction outputs (UTXOs), that the outputs of the transaction are no greater than the input, and that the keys used for the signatures are valid. In Ethereum, the validation function checks that the smart contracts were faithfully executed and respect gas limits. No worries, though- we don’t have to build a system that complicated. We’ll define our own, very simple set of rules which make sense for a basic token system: The sum of deposits and withdrawals must be 0 (tokens are neither created nor destroyed) A user’s account must have sufficient funds to cover any withdrawals If either of these conditions are violated, we’ll reject the transaction. In [4]: def updateState(txn, state): # Inputs: txn, state: dictionaries keyed with account names, holding numeric values for transfer amount (txn) or account balance (state) # Returns: Updated state, with additional users added to state if necessary # NOTE: This does not not validate the transaction- just updates the state! # If the transaction is valid, then update the state state = state.copy() # As dictionaries are mutable, let's avoid any confusion by creating a working copy of the data. for key in txn: if key in state.keys(): state[key] += txn[key] else: state[key] = txn[key] return state In [5]: def isValidTxn(txn,state): # Assume that the transaction is a dictionary keyed by account names # Check that the sum of the deposits and withdrawals is 0 if sum(txn.values()) is not 0: return False # Check that the transaction does not cause an overdraft for key in txn.keys(): if key in state.keys(): acctBalance = state[key] else: acctBalance = 0 if (acctBalance + txn[key]) < 0: return False return True Here are a set of sample transactions, some of which are fraudulent- but we can now check their validity! In [6]: state = {u'Alice':5,u'Bob':5} print(isValidTxn({u'Alice': -3, u'Bob': 3},state)) # Basic transaction- this works great! print(isValidTxn({u'Alice': -4, u'Bob': 3},state)) # But we can't create or destroy tokens! print(isValidTxn({u'Alice': -6, u'Bob': 6},state)) # We also can't overdraft our account. print(isValidTxn({u'Alice': -4, u'Bob': 2,'Lisa':2},state)) # Creating new users is valid print(isValidTxn({u'Alice': -4, u'Bob': 3,'Lisa':2},state)) # But the same rules still apply! True False False True False Each block contains a batch of transactions, a reference to the hash of the previous block (if block number is greater than 1), and a hash of its contents and the header Building the Blockchain: From Transactions to Blocks¶ We’re ready to start making our blockchain! Right now, there’s nothing on the blockchain, but we can get things started by defining the ‘genesis block’ (the first block in the system). Because the genesis block isn’t linked to any prior block, it gets treated a bit differently, and we can arbitrarily set the system state. In our case, we’ll create accounts for our two users (Alice and Bob) and give them 50 coins each. In [7]: state = {u'Alice':50, u'Bob':50} # Define the initial state genesisBlockTxns = [state] genesisBlockContents = {u'blockNumber':0,u'parentHash':None,u'txnCount':1,u'txns':genesisBlockTxns} genesisHash = hashMe( genesisBlockContents ) genesisBlock = {u'hash':genesisHash,u'contents':genesisBlockContents} genesisBlockStr = json.dumps(genesisBlock, sort_keys=True) Great! This becomes the first element from which everything else will be linked. In [8]: chain = [genesisBlock] For each block, we want to collect a set of transactions, create a header, hash it, and add it to the chain In [9]: def makeBlock(txns,chain): parentBlock = chain[-1] parentHash = parentBlock[u'hash'] blockNumber = parentBlock[u'contents'][u'blockNumber'] + 1 txnCount = len(txns) blockContents = {u'blockNumber':blockNumber,u'parentHash':parentHash, u'txnCount':len(txns),'txns':txns} blockHash = hashMe( blockContents ) block = {u'hash':blockHash,u'contents':blockContents} return block Let’s use this to process our transaction buffer into a set of blocks: In [10]: blockSizeLimit = 5 # Arbitrary number of transactions per block- # this is chosen by the block miner, and can vary between blocks! while len(txnBuffer) > 0: bufferStartSize = len(txnBuffer) ## Gather a set of valid transactions for inclusion txnList = [] while (len(txnBuffer) > 0) & (len(txnList) < blockSizeLimit): newTxn = txnBuffer.pop() validTxn = isValidTxn(newTxn,state) # This will return False if txn is invalid if validTxn: # If we got a valid state, not 'False' txnList.append(newTxn) state = updateState(newTxn,state) else: print("ignored transaction") sys.stdout.flush() continue # This was an invalid transaction; ignore it and move on ## Make a block myBlock = makeBlock(txnList,chain) chain.append(myBlock) In [11]: chain[0] Out[11]: {'contents': {'blockNumber': 0, 'parentHash': None, 'txnCount': 1, 'txns': [{'Alice': 50, 'Bob': 50}]}, 'hash': '7c88a4312054f89a2b73b04989cd9b9e1ae437e1048f89fbb4e18a08479de507'} In [12]: chain[1] Out[12]: {'contents': {'blockNumber': 1, 'parentHash': '7c88a4312054f89a2b73b04989cd9b9e1ae437e1048f89fbb4e18a08479de507', 'txnCount': 5, 'txns': [{'Alice': 3, 'Bob': -3}, {'Alice': -1, 'Bob': 1}, {'Alice': 3, 'Bob': -3}, {'Alice': -2, 'Bob': 2}, {'Alice': 3, 'Bob': -3}]}, 'hash': '7a91fc8206c5351293fd11200b33b7192e87fad6545504068a51aba868bc6f72'} As expected, the genesis block includes an invalid transaction which initiates account balances (creating tokens out of thin air). The hash of the parent block is referenced in the child block, which contains a set of new transactions which affect system state. We can now see the state of the system, updated to include the transactions: In [13]: state Out[13]: {'Alice': 72, 'Bob': 28} Checking Chain Validity¶ Now that we know how to create new blocks and link them together into a chain, let’s define functions to check that new blocks are valid- and that the whole chain is valid. On a blockchain network, this becomes important in two ways: When we initially set up our node, we will download the full blockchain history. After downloading the chain, we would need to run through the blockchain to compute the state of the system. To protect against somebody inserting invalid transactions in the initial chain, we need to check the validity of the entire chain in this initial download. Once our node is synced with the network (has an up-to-date copy of the blockchain and a representation of system state) it will need to check the validity of new blocks that are broadcast to the network. We will need three functions to facilitate in this: checkBlockHash: A simple helper function that makes sure that the block contents match the hash checkBlockValidity: Checks the validity of a block, given its parent and the current system state. We want this to return the updated state if the block is valid, and raise an error otherwise. checkChain: Check the validity of the entire chain, and compute the system state beginning at the genesis block. This will return the system state if the chain is valid, and raise an error otherwise. In [14]: def checkBlockHash(block): # Raise an exception if the hash does not match the block contents expectedHash = hashMe( block['contents'] ) if block['hash']!=expectedHash: raise Exception('Hash does not match contents of block %s'% block['contents']['blockNumber']) return In [15]: def checkBlockValidity(block,parent,state): # We want to check the following conditions: # - Each of the transactions are valid updates to the system state # - Block hash is valid for the block contents # - Block number increments the parent block number by 1 # - Accurately references the parent block's hash parentNumber = parent['contents']['blockNumber'] parentHash = parent['hash'] blockNumber = block['contents']['blockNumber'] # Check transaction validity; throw an error if an invalid transaction was found. for txn in block['contents']['txns']: if isValidTxn(txn,state): state = updateState(txn,state) else: raise Exception('Invalid transaction in block %s: %s'%(blockNumber,txn)) checkBlockHash(block) # Check hash integrity; raises error if inaccurate if blockNumber!=(parentNumber+1): raise Exception('Hash does not match contents of block %s'%blockNumber) if block['contents']['parentHash'] != parentHash: raise Exception('Parent hash not accurate at block %s'%blockNumber) return state In [16]: def checkChain(chain): # Work through the chain from the genesis block (which gets special treatment), # checking that all transactions are internally valid, # that the transactions do not cause an overdraft, # and that the blocks are linked by their hashes. # This returns the state as a dictionary of accounts and balances, # or returns False if an error was detected ## Data input processing: Make sure that our chain is a list of dicts if type(chain)==str: try: chain = json.loads(chain) assert( type(chain)==list) except: # This is a catch-all, admittedly crude return False elif type(chain)!=list: return False state = {} ## Prime the pump by checking the genesis block # We want to check the following conditions: # - Each of the transactions are valid updates to the system state # - Block hash is valid for the block contents for txn in chain[0]['contents']['txns']: state = updateState(txn,state) checkBlockHash(chain[0]) parent = chain[0] ## Checking subsequent blocks: These additionally need to check # - the reference to the parent block's hash # - the validity of the block number for block in chain[1:]: state = checkBlockValidity(block,parent,state) parent = block return state We can now check the validity of the state: In [17]: checkChain(chain) Out[17]: {'Alice': 72, 'Bob': 28} And even if we are loading the chain from a text file, e.g. from backup or loading it for the first time, we can check the integrity of the chain and create the current state: In [18]: chainAsText = json.dumps(chain,sort_keys=True) checkChain(chainAsText) Out[18]: {'Alice': 72, 'Bob': 28} Putting it together: The final Blockchain Architecture¶ In an actual blockchain network, new nodes would download a copy of the blockchain and verify it (as we just did above), then announce their presence on the peer-to-peer network and start listening for transactions. Bundling transactions into a block, they then pass their proposed block on to other nodes. We’ve seen how to verify a copy of the blockchain, and how to bundle transactions into a block. If we recieve a block from somewhere else, verifying it and adding it to our blockchain is easy. Let’s say that the following code runs on Node A, which mines the block: In [19]: import copy nodeBchain = copy.copy(chain) nodeBtxns = [makeTransaction() for i in range(5)] newBlock = makeBlock(nodeBtxns,nodeBchain) Now assume that the newBlock is transmitted to our node, and we want to check it and update our state if it is a valid block: In [20]: print("Blockchain on Node A is currently %s blocks long"%len(chain)) try: print("New Block Received; checking validity...") state = checkBlockValidity(newBlock,chain[-1],state) # Update the state- this will throw an error if the block is invalid! chain.append(newBlock) except: print("Invalid block; ignoring and waiting for the next block...") print("Blockchain on Node A is now %s blocks long"%len(chain)) Blockchain on Node A is currently 7 blocks long New Block Received; checking validity... Blockchain on Node A is now 8 blocks long
DavidNietoHernandez / AdaptiveControllerTrackingErrorIn recent years, Unmanned Aerial Vehicles (UAVs) have evolved from a passive to an active rol in plentiful applications. Hence, it is necessary to consider new ways to fly in order to accomplish new tasks such as grasping, sensing, and others. This paper considers a tilting quad-rotor configuration which improves the flying performance. However, this new configuration requires more robust and advanced controllers for proper operation. In this way, this paper presents the mathematical model for a displacement in one plane of a tilt rotor quadrotor obtained via the Euler-Lagrange formulation. Furthermore, the proposed adaptive control technique is based on combined error tracking. Additionally, the closed-loop stability is obtained by a Lyapunov analysis. Finally, some numerical examples have been considered in order to evaluate and validate the control strategy.
Phionx / QuantumnetworksWe present quantumnetworks as a numerical simulation tool with which to explore the time-dynamics of a driven, lossness, and nonlinear multi-mode quantum network using the Heisenberg-Langevin Equations. The applications of this tooling span quantum transduction, bosonic quantum error correction systems, quantum communication, and more.
sahidesu25 / Sentiment Analysis On Amazon Product ReviewsWith the explosion of social networking sites, blogs and review sites a lot of information is available on the web. This information contains emotions and opinions about various product features and the makers of these products. This form of opinion and feedback is important to the companies developing these products as well as the companies that want to develop better rival products. Sentiment Analysis is the task of analyzing all this data, retrieving opinions about these products and services and classifying them as positive or negative, in other words good or bad. The key parts of any review of any product are the numeric rating and the textual description provided along with this product. In our project we will take into consideration both these vectors for product reviews to conclusively decide on a classifier that is best suited to analysis of product reviews. We have gathered reviews and based on the features that best describe the sentiment for each review, we have created a feature set of 1000 features, and with this limited set we will determine which classifier gives the best result on review type data. To determine the best classifier we perform evaluations on it, by running various data set generators, calculating the resubstitution and generalization errors for each classifier. We then use the mean of these results to compute the paired Student’s t-test to relatively compare the performance of the classifiers. Based on the results of this evaluation, we can state which is the best classifier.
ogay / LibaffaLibaffa is a C++ Affine Arithmetic library for GNU/Linux. Affine Arithmetic is a model proposed by Stolfi and Comba in the early 90's for numerical calculation. Unlike Interval Arithmetic, it keeps track of correlations between computed and input quantities, and is therefore resistant to the explosion error observed in long interval computations.
nestordemeure / ShamanEvaluate the numerical accuracy of an application (mirror of the Gitlab main repo).
