OpenRC is a modified version of the official FTC SDK in which all of the source code that is normally tucked away inside the AAR files has been extracted into modules. This makes it easy to see and modify almost the entirety of the Robot Controller app's source code. In addition, the history in Git shows all changes that have been made to the core code since OpenRC's inception. This complements the changelogs that FIRST provides, allowing teams to see exactly what code has been changed.
According to the 2021-2022 Game Manual Part 1, teams are not allowed to replace or modify the portions of the SDK which are distributed as AAR files, per <RS08>
. This means that in its default configuration, OpenRC is not legal for competition.
HOWEVER, in order to address this, OpenRC has a stock
build variant which will compile the TeamCode
and FtcRobotController
modules against the official, unmodified AAR files, rather than against the extracted modules.
Compatible with all legal FTC Robot Controller devices for the 2021-2022 season, including the Control Hub.
Normal SDK 7.0 APK size: 63MB
Stock - 52.1MB APK (1.2x smaller)
Turbo - 11.6MB APK (5.4x smaller)
Note: If you would like to use Blocks, you will need to copy your private Vuforia key into the Blocks/src/main/assets/CzechWolf
file
Extreme Turbo - 7.1MB APK (8.9x smaller)
git remote add upstream https://github.com/OpenFTC/OpenRC-Turbo.git
filesForDynamicLoad
folder of this repo into the FIRST/vision
folder on the RC's internal storageAssuming you followed the above setup process, all that you need to do to update your fork when a new OpenRC release is available is:
git pull upstream master
IMPORTANT: make sure to test that your project compiles correctly with the stock variant at least a week before your competition!
Note: you may get a "variant conflict" when switching variants. You can fix this by changing the conflicting module's variant to match the variant you want.
To prevent confusion, OpenRC does not have its own version number. The version number will directly reflect the SDK version that the release is based on. However, the version number will have a letter appended to the end of it, which will be incremented (A-Z) for each release of OpenRC which is based on the same SDK version. When OpenRC is updated to be based on a new SDK version, the letter will reset to A.
For instance, the 3rd release of OpenRC based on SDK v5.0 would be 5.0C
, whereas the first release of OpenRC based on SDK v5.1 would be 5.1A
.
In order to reduce APK size, the Turbo and Extreme Turbo variants do not bundle the Vuforia and TensorFlow datasets in the APK. However, once copied onto the internal storage (see step #4 in the Setup Process section), you can still use them in your OpMode by making a very minor change.
NOTE: The samples in this repo have already been adjusted with this change.
/*
* For Vuforia
*/
// Find a line similar to this in the program
vuforia.loadTrackablesFromAsset("DatasetName");
// And replace it with this (obviously adjusting the DatasetName)
vuforia.loadTrackablesFromFile("/sdcard/FIRST/vision/DatasetName");
/*
* For TensorFlow
*/
// Find a line similar to this in the program
tfod.loadModelFromAsset("DatasetName.tflite");
// And replace it with this (obviously adjusting the DatasetName)
tfod.loadModelFromFile("/sdcard/FIRST/vision/DatasetName.tflite");
Released on 14 October 2022
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Released on 27 September 2021
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Released on 25 September 2020
vision
subfolder of FIRST
folder to prevent the Vuforia XML files from appearing in the configuration editorReleased on 30 August 2020
Released on 28 August 2020
Released on 11 August 2020
Released on 15 January 2020
Released on 22 November 2019
Released on 19 October 2019
Released on 19 September 2019
Blocks/src/main/assets/CzechWolf
file.Released on 11 September 2019
FIRST
folder of the internal storage after you update. See step #4 in the Setup Process sectionReleased on 26 August 2019
Released on 21 August 2019