FtcRobotController VS PhotonFTC

Yes, APK from Github, or just connect your phone to the REV Hardware Client.

I think I just stumbled upon where the team got the IMU initialization from. Take a look at the sample code in https://github.com/FIRST-Tech-Challenge/FtcRobotController/blob/master/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java

You can read my testing notes here https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/317 but there is a way to make it slightly faster

Although written for Blocks, this tutorial can help new Java programmers too: https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Timers-in-FTC-Blocks

are you working from the FtcRobotController project? https://github.com/FIRST-Tech-Challenge/FtcRobotController

Here's a sample program that uses deadlines

https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Writing-an-I2C-Driver This is the core tutorial on i2c devices, although its a little out of date so YMMV. Some things like the constructor may need to be tweaked (I believe there is now a second parameter in the super?). However the core of it is still accurate.

Photon FTC implements some of these changes (https://github.com/Eeshwar-Krishnan/PhotonFTC) specifically check out the new driver (VL53L0X the name of the chip used in the 2m sensor) (https://github.com/Eeshwar-Krishnan/PhotonFTC/blob/main/PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/Neutrino/Rev2MSensor/Rev2mDistanceSensorEx.java)

It's been a while since I've dived into the SDK. If you have specific questions on the thread lock, there's several people on the discord that know how the thread locking works very well. I haven't tested it myself, cause it came out after I graduated, but Eeshwar developed software to overcome the lock and speed stuff up by doing calls asynchronously. It's still better to limit to a single thread though. https://github.com/Eeshwar-Krishnan/PhotonFTC

Yeah saw it a lot when control hub first came out. Now see people use it for the acceleration from photon - https://github.com/Eeshwar-Krishnan/PhotonFTC. I believe it is legal.

We tested the PhotonFTC (v2.0.1 as we're still on SDK 8.0) software. After adding the recommended repository and dependency statements to the teamcode build.gradle, and changing minimum android SDK to 24, we reran the testing opmode, in two ways: 1) No PhotonCore.enable() statement, and 2) with a PhotonCore.enable() statement. The result was: (1) loop time, reading all four sensors, was 30-35ms; and (2) also 30-35ms.

PhotonFTC (my personal favorite)

Photon?

For autonomous in addition to drive encoders or dead wheels for position estimation, teams have found that using distance sensors can be used to relocalize. Distance sensors however often require you to make a ton of very time expensive calls. Team 7244 developed a library called photon that helps remove a ton of this delay, as well as enabling a higher precision mode on the rev 2m distance sensors. https://github.com/Eeshwar-Krishnan/PhotonFTC