Rev Extensions has been replaced with RevExtensions2. This repository is now depricated and is no longer supported.

Rev Extensions

This repository contains extensions for the Rev Expansion Hub, adding functionality not exposed in the core SDK.

NOTE: This repository does not include a complete development environment due to the dependency on the FTC SDK (https://github.com/ftctechnh/ftc_app).

Installation/Download Instructions:

1. Clone the ftc_app repository (we suggest a shallow clone, i.e. git clone https://github.com/ftctechnh/ftc_app --depth 1 because we have no need of the ftc_app history)

   If you already have a copy of ftc_app or OpenRC, no need to repeat this step.

2. Inside the ftc_app directory, clone RevExtensions (git clone https://github.com/OpenFTC/RevExtensions)

   If you don't wish to use Git, you may instead download a copy of this repository and extract it as a folder.

3. Open the ftc_app folder in Android Studio

4. After a full sync completes (including any applicable Gradle updates and installations), add include ':RevExtensions' to a new line in settings.gradle.

5. Sync

Usage

The OpenRevDcMotorImplEx class retains all features of normal motors, including the DcMotorImpl and DcMotorEx extensions, while also adding current sensing capabilities. To use, declare an OpenRevDcMotorImplEx as such:

OpenRevDcMotorImplEx motor1 = new OpenRevDcMotorImplEx((DcMotorImplEx) hardwareMap.dcMotor.get("motor1"));`

Then, you may use this motor as normal. Current draw, as a double, can be accessed through:

motor1.getCurrentDraw();

Similarly, you may access extra Rev Expansion Hub capabilities as follows (Take note that Rev Expansion Hubs are called "Lynx Modules" internally to the FTC SDK):

OpenRevHub expansionHub = new OpenRevHub(hardwareMap.get(LynxModule.class, "Expansion Hub 1"));

Using an OpenRevHub, you can access:

expansionHub.setLedColor(byte r, byte g, byte b);
expansionHub.setLedColor(HardwareMap hardwareMap, int resID); // Useful if you have colors defined as R.color.pink
expansionHub.getTotalModuleCurrentDraw();
expansionHub.getServoBusCurrentDraw(); // This is known to have issues, but they are most likely are caused by the ExH firmware itself
expansionHub.getGpioBusCurrentDraw();
expansionHub.getI2CbusCurrentDraw();
expansionHub.read5vMonitor();
expansionHub.read12vMonitor();
expansionHub.getInternalTemperature();

Finally, you can also access these features through the OpenRevDcMotorController class. This allows you to access the current draw of all four motors that the Expansion Hub supports, without needing individual motor declarations.

TODO: Finish motor controller docs