include changes from main, plus new field images and handle merge con…

…flict

.github/workflows/pull-request.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:           
   build-pdf:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3
@@ -43,7 +43,7 @@ jobs:
           if-no-files-found: error
 
   build-html:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3
@@ -73,7 +73,7 @@ jobs:
           if-no-files-found: error
 
   spelling-check:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3
@@ -84,7 +84,7 @@ jobs:
           reporter: "github-check"
 
   link-check:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3
@@ -153,7 +153,7 @@ jobs:
           retention-days: 7
 
   image-check:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3
@@ -170,7 +170,7 @@ jobs:
         run: make -C docs/ imagecheck
 
   check-redirect:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout Repository  
         uses: actions/checkout@v3

docs/source/apriltag/opmode_test_images/opmode-test-images.rst

@@ -5,7 +5,7 @@ Introduction
 ------------
 
 In the 2023-2024 season, `FIRST Tech Challenge has introduced
-AprilTags <https://ftc-docs.firstinspires.org/apriltag-intro>`__ into
+AprilTags <https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html>`__ into
 the season-unique competition. AprilTags were developed by the April
 Robotics Laboratory at the University of Michigan and are a visual
 fiducial tagging system, built on a similar concept as QR codes, useful
@@ -75,7 +75,7 @@ to verify that the page printed properly.
 For more in-depth information about AprilTag detection values, and
 better understanding what they mean, please visit the following website:
 
--  https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 - :download:`Download and print the official PDF <files/FTCAprilTagSDK82SamplesExtended.pdf>`
 
 

docs/source/apriltag/vision_portal/apriltag_advanced_use/apriltag-advanced-use.rst

@@ -89,7 +89,7 @@ follows:
 
 Further discussion is provided here:
 
-- https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Advanced CPU Management
 -----------------------

docs/source/apriltag/vision_portal/apriltag_camera_calibration/apriltag-camera-calibration.rst

@@ -46,7 +46,7 @@ previous run’s results.
 Mac OSX users may need special software for Android file transfer.
 
 Next, read and follow the calibration instructions posted at
-`ftc-docs <https://ftc-docs.firstinspires.org/camera-calibration>`__.
+`ftc-docs <https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/camera_calibration/camera-calibration.html>`__.
 Other calibration programs are widely available online.
 
 Existing Warnings

docs/source/apriltag/vision_portal/apriltag_intro/apriltag-intro.rst

@@ -276,7 +276,7 @@ positive rotation.
 
 Further discussion is provided here:
 
-- https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Note: This article does not discuss the *FIRST* Tech Challenge 
 :ref:`Field Coordinate System <game_specific_resources/field_coordinate_system/field-coordinate-system:scope>`.
@@ -373,7 +373,7 @@ follows:
 
 Again, further discussion is provided here:
 
-- https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Summary
 -------

docs/source/apriltag/vision_portal/apriltag_localization/apriltag-localization.rst

@@ -237,8 +237,8 @@ Reference Frames
 
 In the above example. the yaw angle is given as (approximately) -90 degrees.
 But the camera is facing in the negative X direction, thus has a heading or yaw
-angle of -180 degrees in the official FTC `field coordinate system
-<https://ftc-docs.firstinspires.org/en/latest/game_specific_resources/field_coordinate_system/field-coordinate-system.html>`_
+angle of -180 degrees in the official FTC 
+:ref:`field coordinate system <first field coordinate system>`
 :
 
 .. figure:: images/50-field-axes.png
@@ -250,8 +250,7 @@ angle of -180 degrees in the official FTC `field coordinate system
 
 This sample OpMode uses a reference frame (coordinate system) that may be
 different than what you expect from other FTC navigation applications,
-including `IMU or robot axes
-<https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=field%20coordinates#axes-definition>`_\
+including :ref:`IMU or robot axes <imu axes def>`
 , odometry device axes, and the FTC field system (shown above).  These
 differences typically result in basic and obvious changes in axis direction,
 axis swapping, and orthogonal angles (90-degree increments).

docs/source/apriltag/vision_portal/apriltag_pose/apriltag-pose.rst

@@ -102,7 +102,7 @@ Sample OpModes:
 
 More discussion of AprilTag pose data is available here:
 
-- https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 ====
 

docs/source/apriltag/vision_portal/apriltag_reference_frame/apriltag-reference-frame.rst

@@ -96,7 +96,7 @@ Related Info
 
 More discussion of the AprilTag reference frame is available here:
 
-- https://ftc-docs.firstinspires.org/apriltag-detection-values
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 This section described the SDK's default AprilTag reference frame.  Teams are
 welcome to make other calculations, such as the pose of the camera (or robot)

docs/source/apriltag/vision_portal/visionportal_webcams/visionportal-webcams.rst

@@ -55,7 +55,7 @@ Logitech C310
 
    Logitech C310 Camera
 
-The `Logitech C310 <https://www.logitech.com/en-us/products/webcams/c310-hd-webcam.960-000585.html>`__
+The `Logitech C310 <https://www.logitech.com/en-us/products/webcams/c310-hd-webcam.html>`__
 is available at some online retailers.
 
 **FTC Hot Take:**
@@ -123,7 +123,7 @@ Microsoft LifeCam HD-3000 v1/v2
 
    Microsoft LifeCam HD-3000 v1/v2
 
-The `Microsoft LifeCam HD-3000 <https://www.microsoft.com/en/accessories/products/webcams/lifecam-hd-3000>`__
+The `Microsoft LifeCam HD-3000 <https://www.digitalcameraworld.com/reviews/microsoft-lifecam-hd-3000-review>`__
 is available at some online retailers.
 
 **FTC Hot Take:**
@@ -190,7 +190,7 @@ Arducam Global Shutter 120 FPS
    Arducam GS 120 Camera
 
 The `Arducam Global Shutter 120
-FPS <https://www.arducam.com/product/arducam-120fps-global-shutter-usb-camera-board-1mp-720p-ov9281-uvc-webcam-module-with-low-distortion-m12-lens-without-microphones-for-computer-laptop-android-device-and-raspberry-pi/>`__
+FPS <https://www.arducam.com/product/arducam-100fps-global-shutter-usb-camera-board-1mp-720p-ov9281-uvc-webcam-module-with-low-distortion-m12-lens-without-microphones-for-computer-laptop-android-device-and-raspberry-pi/>`__
 is available at some online retailers, including
 `Amazon <https://www.amazon.com/Arducam-Distortion-Microphones-Computer-Raspberry/dp/B096M5DKY6>`__.
 

docs/source/cad_resources/index.rst

@@ -25,7 +25,7 @@ Here are a few tools commonly used by teams:
 Software for Beginners
 
 *  `Autodesk TinkerCAD <https://www.tinkercad.com/>`__ (free) (desktop)
-*  `FreeCAD <https://www.freecadweb.org/>`__ (free) (desktop)
+*  `FreeCAD <https://www.freecad.org/>`__ (free) (desktop)
 
 Software for Intermediate Users
 

docs/source/cad_resources/solidworks/solidworks.rst

@@ -16,6 +16,6 @@ SOLIDWORKS® Training Videos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Learning content for both the cloud-based and desktop-based tools is managed
-through the `3DS online learning portal <https://edu.3ds.com/en/learn/eduspace>`__,
+through the `3DS online learning portal <https://eduspace.3ds.com/CompanionManager/public/#/>`__,
 which manages access through your 3DEXPERIENCE ID.
 

docs/source/color_processing/color-locator-explore/color-locator-explore.rst

@@ -38,7 +38,7 @@ pattern.  This includes adding the "Color Blob Locator" Processor to the
 VisionPortal.
 
 The FTC VisionPortal was introduced in 2023. More information is available
-on the `ftc-docs VisionPortal Page <https://ftc-docs.firstinspires.org/apriltag-sdk>`_.
+on the :ref:`ftc-docs VisionPortal Page <apriltag/vision_portal/visionportal_overview/visionportal-overview:visionportal overview>`.
 
 Target Color Range
 ------------------

docs/source/conf.py

@@ -30,7 +30,7 @@
     'sphinxcontrib.cookiebanner',
     'sphinxcontrib.mermaid',
     "sphinxext.rediraffe",
-    "ftcdocs_linkcheckdiff",
+#    "ftcdocs_linkcheckdiff",
 ]
 
 autosectionlabel_prefix_document = True
@@ -275,6 +275,10 @@
     },
 }
 
+linkcheck_allowed_redirects = {
+    r'https://ftc-docs\.firstinspires\.org/.*': r'https://ftc-docs\.firstinspires\.org/en/latest/.*'
+}
+
 # Firstinspires redirects to login and break our link checker :)
 # ftc-ml.firstinspires.org does a redirect that linkcheck hates.
 # GitHub links with Javascript Anchors cannot be detected by linkcheck
@@ -287,11 +291,16 @@
    r'https://wiki.dfrobot.com/.*#',
    r'https://www.solidworks.com/',
    r'https://sketchup.com/',
+   r'https://eduspace.3ds.com/',
+   r'https://www.dell.com/',
    r'https://april.eecs.umich.edu/',
    r'https://www.autodesk.com/',
    r'https://knowledge.autodesk.com/',
    r'https://www.3dflow.net/',
    r'https://stackoverflow.com',
+   r'http://192.168.43.1',
+   r'http://192.168.49.1',
+   r'https://javadoc.io/doc/org.firstinspires.ftc/',
 ]
 
 latex_documents = [
@@ -351,6 +360,12 @@ def setup(app):
     html_context['github_user'] = 'FIRST-Tech-Challenge'
     html_context['github_repo'] = 'ftcdocs'
     html_context['github_version'] = 'main/docs/source/'
+
+    analytics = {
+    'gtag': 'G-7B5F7THY9C'
+    }
+
+
 
 
 # Configure RTD Theme

docs/source/control_hard_compon/rc_components/power_distr/power-distr.rst

@@ -283,8 +283,8 @@ brands are reputable and which ones are not? That's not always an easy thing to
 determine, however brands such as 
 `Anker <https://www.anker.com/collections/power-banks>`__, 
 `Belkin <https://www.belkin.com/products/chargers/portable-chargers-power-banks/>`__,
-`Otterbox <https://www.otterbox.com/en-us/power-packs>`__, and 
-`BioLite <https://www.bioliteenergy.com/collections/usb-battery-banks>`__ 
+`Otterbox <https://www.otterbox.com/en-us/portable-chargers>`__, and 
+`BioLite <https://www.bioliteenergy.com/collections/portable-battery-banks>`__ 
 are among the most-used brands in the world. *FIRST* Tech Challenge recommends
 choosing an internationally reputable brand, even if the brand is more
 expensive than a lesser-known brand, as these batteries will be more apt to

docs/source/game_specific_resources/field_coordinate_system/field-coordinate-system.rst

@@ -1,8 +1,10 @@
+.. _first field coordinate system:
+
 *FIRST* Tech Challenge Field Coordinate System Definition
 =========================================================
 
 .. meta::
-   :description: This document defines the Field Coordinate System which can be used to specify position on the playing field.
+   :description: This document defines the FIRST Tech Challenge Field Coordinate System which can be used to specify position on the playing field.
 
 Summary: The *FIRST* Tech Challenge Field Coordinate System is a Cartesian Coordinate System of three dimensions.
 The X and Y axes will refer to a position on the field and the Z axis a height above the field.
@@ -74,17 +76,15 @@ Rotation About Axes
 When considering rotations about an axis, consider yourself looking down the
 axis from the positive end towards the origin. Positive
 rotations are then counterclockwise and negative rotations clockwise.
-
-Imagine looking down the positive Z axis towards the origin.
-This would be like standing in the middle of the field
-looking down.
-A positive rotation about the Z axis would be counterclockwise.
-
 
 .. figure:: images/image1.jpg
-   :alt: X, Y and Z coordinate axes
+   :alt: X, Y and Z coordinate axes.
 
    Counterclockwise rotations about each axis
+
+   Imagine looking down the positive Z axis towards the origin.
+   This would be like standing in the middle of the field looking down.
+   A positive rotation about the Z axis would be counterclockwise.
 
 Example: a robot spinning clockwise on the Field is making a negative rotation about the Z axis.
 
@@ -101,47 +101,43 @@ Below are two examples illustrating the Field Coordinate System for different
 Diamond Field
 ^^^^^^^^^^^^^
 
-In a diamond field configuration the two Alliance walls are adjacent.
-The field is rotated 45 degrees such that both Alliances face the audience.
-From the audience perspective the field forms a diamond shape.
-The Red Wall will be on the right as seen from the audience,
-and the blue wall will be on the left.
-The Y axis points across the field as seen from the Red Wall. 
-The X axis points to the blue wall.
-
-
-.. figure:: images/image2.jpg
-   :alt: A diamond field with X, Y and Z axes shown
+.. figure:: images/first-res-q-field.png
+   :alt: A diamond field with X, Y and Z axes shown.
+
+   The FIRST RES-Q game field
 
-   The FIRST RES-Q game field   
+   In a diamond field configuration the two Alliance walls are adjacent.
+   The field is rotated 45 degrees such that both Alliances face the audience.
+   From the audience perspective the field forms a diamond shape.
+   The Red Wall will be on the right as seen from the audience.
+   The Y axis points across the field as seen from the Red Wall. 
+   The X axis points to the Blue Alliance.
 
 Square Field
 ^^^^^^^^^^^^
 
-In a square field configuration the two Alliances face each other across the field.
-The field is oriented such that the Red Wall is on the right as seen
-from the audience, and the blue wall will be on the left.
-The Y axis points across the field from the Red Wall to the blue wall.
-The X axis points away from the audience to the rear of the field.
+.. figure:: images/into-the-deep-field.png
+   :alt: A square field with X, Y and Z axes shown.
 
-.. figure:: images/image3.jpg
-   :alt: A square field with X, Y and Z axes shown
+   The Into The Deep game field
 
-   The Cascade Effect game field
+   In a square field configuration the two Alliances face each other across the field.
+   The field is oriented such that the Red Wall is on the right as seen from the audience.
+   The Y axis points across the field from the Red Wall towards the Blue Alliance.
+   The X axis points away from the audience to the rear of the field.
 
 Coordinate Position Example
 ---------------------------
 
-Let's consider a robot on the Cascade Effect field at coordinates 
-(60, -60, 10) in inches. So X = 60, y = -60, and Z = 10. 
-Measured in inches, the walls would be about 72 inches from the origin.
-Cascade Effect was a square field configuration, so
-the X axis value of positive 60 would be located close to the rear field wall, away from the audience.
-The Y axis value of negative 60 would be located close to the Red Wall, away from the origin.
-Together the X and Y values (60, -60) indicate a position in the corner of the field.
-That corner is adjacent to the Red Wall and furthest from the audience. 
-The Z axis value of 10 places the robot on top of the red
-ramp that is in that corner in the Cascade Effect game. 
+Let's consider the coordinates (0, -24, 26) in inches on the Into The Deep field, which is a square field.
+Given the order of coordinates then X = 0, Y = -24, and Z = 26. 
+
+The X axis value of 0 is located at the origin in the center of the field.
+The Y axis value of negative 24 would be located closer to the Red Wall, away from the origin by the width of one tile.
+This the center of the wall of the submersible structure on the red side of the field.
+
+The Z axis value of 26 indicates the coordinates refer to the center and top of the Red Alliance "high chamber"
+(which is the higher of the two red crossbars).
 
 Measured Values
 ---------------