Upgrading to FTC SDK version 4.0Tags: control, software, and think
Task: Upgrade our code to the latest version of the FTC SDK
FTC recently released version 4.0 of their SDK, with initial support for external cameras, better PIDF motor control, improved wireless connectivity, new sensors, and other general improvements. Our code was based on last year's SDK version 3.7, so we needed to merge the new SDK with our repository.
The merge was slightly difficult, as there were some issues with the Gradle build system. However, after a little fiddling with the configuration, as well as fixing some errors in the internal code we changed, we were able to successfully merge the new SDK.
After the merge, we tested that our code still worked on Kraken, last year's competition robot. It ran with no problems.