FIRST Tech Challenge

https://ftc-docs.firstinspires.org/en/latest/
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### Authenticate with GitHub CLI

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/setup_credentials/setup-credentials

This command initiates the authentication process with GitHub using the GitHub CLI. Ensure GitHub CLI is installed before running this command. It guides the user through prompts to authenticate their terminal session.

```bash
gh auth login
```

--------------------------------

### Java Hello World Example

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/style_guide/style-guide

A simple Java code snippet demonstrating how to print 'Hello World' to the console. This is a basic example often used for beginners.

```java
System.out.println("Hello World");
```

--------------------------------

### Create myGreeting Custom Block (Java)

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/shared/myblocks/simple_example/simple-example

This snippet demonstrates how to create a custom block named 'myGreeting' within the FTC programming environment. It serves as a simple example for users to understand the process of defining custom blocks. No external dependencies are required for this basic example.

```java
package org.firstinspires.ftc.teamcode.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

@TeleOp(name = "My Greeting", group = "Examples")
public class MyGreeting extends LinearOpMode {

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        waitForStart();

        while (opModeIsActive()) {
            // Your code here
            telemetry.addData("Message", "Hello, FTC!");
            telemetry.update();
        }
    }

    // Example of a custom block (method)
    public void myGreeting() {
        // This method would contain the logic for the custom block.
        // For this example, we'll just print a message to the console.
        System.out.println("Hello from myGreeting!");
    }
}
```

--------------------------------

### Initialize Vuforia Localization (Java)

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/webcam_controls/samples/samples

This snippet shows the initialization process for the Vuforia localization engine. It involves creating a Parameter object, setting the Vuforia license key, and specifying the camera to be used. This is essential for image recognition and tracking.

```Java
    /**
     * Initialize the Vuforia localization engine.
     */
    private void initVuforia() {
        /*
         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
         */
        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();

        parameters.vuforiaLicenseKey = VUFORIA_KEY;
        parameters.cameraName = hardwareMap.get(WebcamName.class, "Webcam 1");

```

--------------------------------

### Create Default AprilTag Processor (Java)

Source: https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_library/apriltag-library

This snippet shows how to easily create an AprilTagProcessor using the default set of tags for the current season. This is the simplest way to get started with AprilTag detection.

```java
AprilTagProcessor myAprilTagProcessor;

// Create the AprilTag processor and assign it to a variable.
myAprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();

```

--------------------------------

### Webcam PTZ Control Initialization - Java

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/webcam_controls/samples/samples

This Java code snippet demonstrates the initialization of webcam Pan, Tilt, and Zoom (PTZ) controls within an FTC robot program. It includes setting up Vuforia for vision processing and accessing webcam hardware through the FTC SDK. This code is part of a larger example for direct gamepad control of PTZ features.

```java
/* 

This example OpMode allows direct gamepad control of webcam virtual pan/tilt/zoom,
if supported.  It's a companion to the FTC wiki tutorial on Webcam Controls.

Add your own Vuforia key, where shown below.

Some tested webcams:
Logitech C920 responds to all pan/tilt/zoom (PTZ) methods
Microsoft LifeCam VX-5000 does support PTZ, with 10 positions each.
Logitech C270 (old firmware) does not support PTZ.

Questions, comments and corrections to westsiderobotics@verizon.net

from v03 11/11/21
 */

package org.firstinspires.ftc.teamcode;

import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.PtzControl;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;

import org.firstinspires.ftc.robotcore.external.Telemetry;
import org.firstinspires.ftc.robotcore.external.Telemetry.DisplayFormat;


@TeleOp(name="Webcam Controls - PTZ v03", group ="Webcam Controls")

public class W_WebcamControls_PTZ_v03 extends LinearOpMode {

    private static final String VUFORIA_KEY =
            // "  INSERT YOUR VUFORIA KEY HERE   ";
            
    // Class Members
    private VuforiaLocalizer vuforia    = null;

```

--------------------------------

### Definition List Example

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/make_rst/basic_rst_content/basic_rst_content

Provides an example of a definition list, showcasing terms, definitions with multiple paragraphs, optional classifiers, and handling of special characters.

```text
term 1
    Definition for Term 1
term 2
    Definition for Term 2, first paragraph.
    This is a continued line for the first paragraph.

    Second paragraph for definition of term 2.
Term 3 : classifier
    Definition for term 3.
Term 4 : classifier one : classifier 2
    Definition for Term 4
-term 5
    Without escaping, this would be an option list item.

```

--------------------------------

### Initialize and Control Webcam PTZ in Java

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/webcam_controls/samples/samples

This Java code snippet demonstrates the complete process of initializing the webcam, configuring Vuforia, obtaining PTZ control, and then using gamepad inputs to manually adjust the pan, tilt, and zoom of the webcam. It includes setting and respecting PTZ limits and providing telemetry feedback.

```java
private WebcamName webcamName       = null;

    PtzControl myPtzControl;                // declare PTZ Control object
    
    PtzControl.PanTiltHolder minPanTilt;    // declare Holder for min
    int minPan;
    int minTilt;

    PtzControl.PanTiltHolder maxPanTilt;    // declare Holder for max
    int maxPan;
    int maxTilt;

    // declare Holder for current; must instantiate to set values
    PtzControl.PanTiltHolder curPanTilt = new PtzControl.PanTiltHolder();  
    int curPan;
    int curTilt;

    int minZoom;
    int maxZoom;
    int curZoom;
    
    int panIncrement = 7200;        // for manual gamepad control
    int tiltIncrement = 7200;
    int zoomIncrement = 1;
    // pan/tilt increment 7200 is for Microsoft LifeCam VX-5000
    // can use smaller increment for Logitech C920
    
    boolean useLimits = true;       // use webcam-provided limits


    @Override public void runOpMode() {
        
        telemetry.setMsTransmissionInterval(50);
        
        // Connect to the webcam, using exact name per robot Configuration.
        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");

        /*
         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
         * We pass Vuforia the handle to a camera preview resource (on the RC screen).
         */
        
        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);

        parameters.vuforiaLicenseKey = VUFORIA_KEY;

        // We also indicate which camera we wish to use.
        parameters.cameraName = webcamName;

        // Assign the Vuforia engine object
        vuforia = ClassFactory.getInstance().createVuforia(parameters);

        // Assign the PTZ control object, to use its methods.
        myPtzControl = vuforia.getCamera().getControl(PtzControl.class);

        // display current PTZ values to user
        telemetry.addLine("\nTouch Start arrow to control webcam Pan, Tilt & Zoom (PTZ)");

        // Get the current properties from the webcam.  May be dummy zeroes.
        curPanTilt = myPtzControl.getPanTilt();
        curPan = curPanTilt.pan;
        curTilt = curPanTilt.tilt;
        curZoom = myPtzControl.getZoom();
        
        telemetry.addData("\nInitial pan value", curPan);
        telemetry.addData("Initial tilt value", curTilt);
        telemetry.addData("Initial zoom value", curZoom);
        telemetry.update();


        waitForStart();

        // Get webcam PTZ limits; may be dummy zeroes.
        minPanTilt = myPtzControl.getMinPanTilt();
        minPan = minPanTilt.pan;
        minTilt = minPanTilt.tilt;
        
        maxPanTilt = myPtzControl.getMaxPanTilt();
        maxPan = maxPanTilt.pan;
        maxTilt = maxPanTilt.tilt;

        minZoom = myPtzControl.getMinZoom();
        maxZoom = myPtzControl.getMaxZoom();

        while (opModeIsActive()) {

            // manually adjust the webcam PTZ variables
            if (gamepad1.dpad_right) {
                curPan += panIncrement;
            }  else if (gamepad1.dpad_left) {
                curPan -= panIncrement;
            }

            if (gamepad1.dpad_up) {
                curTilt += tiltIncrement;
            }  else if (gamepad1.dpad_down) {
                curTilt -= tiltIncrement;
            }  //reverse tilt direction for Microsoft LifeCam VX-5000
            
            if (gamepad1.y) {
                curZoom += zoomIncrement;
            }  else if (gamepad1.a) {
                curZoom -= zoomIncrement;
            }

            // ensure inputs are within webcam limits, if provided
            if (useLimits) {
                curPan = Math.max(curPan, minPan);
                curPan = Math.min(curPan, maxPan);

                curTilt = Math.max(curTilt, minTilt);
                curTilt = Math.min(curTilt, maxTilt);

                curZoom = Math.max(curZoom, minZoom);
                curZoom = Math.min(curZoom, maxZoom);
            }

            
            // update the webcam's settings
            curPanTilt.pan = curPan;
            curPanTilt.tilt = curTilt;
            myPtzControl.setPanTilt(curPanTilt);
            myPtzControl.setZoom(curZoom);
            
            // display live feedback while user observes preview image
            telemetry.addLine("\nPAN: Dpad up/dn; TILT: Dpad L/R; ZOOM: Y/A");

            telemetry.addLine("\nWebcam properties (zero may mean not supported)");

            telemetry.addData("Pan", "Min: %d, Max: %d, Actual: %d",
                minPan, maxPan, myPtzControl.getPanTilt().pan);
            telemetry.addData("Programmed Pan", curPan);

            telemetry.addData("\nTilt", "Min: %d, Max: %d, Actual: %d",
                minTilt, maxTilt, myPtzControl.getPanTilt().tilt);
            
```

--------------------------------

### Example: Read-Write File Access

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/shared/myblocks/rw_example/rw-example

Demonstrates how to perform read and write operations on files. This example is useful for managing persistent data within your FTC robot application.

```java
This is an example of read-write file access in Java. 

// Example usage:
// FileAccessExample.writeToFile("mydata.txt", "Hello, World!");
// String content = FileAccessExample.readFromFile("mydata.txt");
// System.out.println(content);

public class FileAccessExample {

    private static final String ROBOT_DATA_DIR = Environment.getExternalStorageDirectory().getAbsolutePath() + "/FIRST/data/";

    public static void writeToFile(String filename, String data) {
        try {
            File directory = new File(ROBOT_DATA_DIR);
            if (!directory.exists()) {
                directory.mkdirs(); // Create directories if they don't exist
            }
            File file = new File(directory, filename);
            FileOutputStream fos = new FileOutputStream(file);
            fos.write(data.getBytes());
            fos.close();
            // Log.d("FileAccess", "Successfully wrote to " + filename);
        } catch (IOException e) {
            // Log.e("FileAccess", "Error writing to file: " + filename, e);
        }
    }

    public static String readFromFile(String filename) {
        StringBuilder content = new StringBuilder();
        try {
            File directory = new File(ROBOT_DATA_DIR);
            File file = new File(directory, filename);
            FileInputStream fis = new FileInputStream(file);
            InputStreamReader isr = new InputStreamReader(fis);
            BufferedReader br = new BufferedReader(isr);
            String line;
            while ((line = br.readLine()) != null) {
                content.append(line).append("\n");
            }
            br.close();
            isr.close();
            fis.close();
            // Log.d("FileAccess", "Successfully read from " + filename);
        } catch (IOException e) {
            // Log.e("FileAccess", "Error reading from file: " + filename, e);
        }
        return content.toString();
    }
}
```

--------------------------------

### Initialize Vuforia for FTC Webcam

Source: https://ftc-docs.firstinspires.org/en/latest/_downloads/32d0f840c0306ffcaaff33ca2d5bc5e6/W_WebcamControls_Exp_Gain

This Java code initializes the Vuforia localization engine for an FTC robot, specifying the camera monitor view and the Vuforia license key. It also assigns the webcam to be used. Ensure the 'Webcam 1' is correctly configured in the robot's hardware map.

```Java
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;

// ... inside runOpMode() ...

private static final String VUFORIA_KEY =
        "  INSERT YOUR VUFORIA KEY HERE  ";

// Declare class members
private VuforiaLocalizer vuforia    = null;
private WebcamName webcamName       = null;

// Connect to the webcam, using exact name per robot Configuration.
webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");

/*
 * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
 * We pass Vuforia the handle to a camera preview resource (on the RC screen).
 */

int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
// VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();

parameters.vuforiaLicenseKey = VUFORIA_KEY;

// We also indicate which camera we wish to use.
parameters.cameraName = webcamName;

// Assign the Vuforia engine object.
vuforia = ClassFactory.getInstance().createVuforia(parameters);

// ... rest of the code ...
```

--------------------------------

### Nested Enumerated List Example

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/make_rst/basic_rst_content/basic_rst_content

Shows an example of a nested enumerated list, highlighting how different enumeration styles can be combined and the importance of proper indentation for list item structure.

```text
1. This is Item 1

   a) Item 1a
   b) Item 1b

2. a) Item 2a
   b) Item 2b

3. This item won't be correct, because
this line after is not indented properly

```

--------------------------------

### Configure AprilTag Library and Processor using Builder Pattern (Java)

Source: https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_library/apriltag-library

This example illustrates using the Builder pattern to create an AprilTag Library and then configuring an AprilTag Processor with this library. It shows initializing both builders, adding tags to the library builder, building the library, and then using it to build the processor.

```java
AprilTagLibrary.Builder myAprilTagLibraryBuilder;
AprilTagProcessor.Builder myAprilTagProcessorBuilder;
AprilTagLibrary myAprilTagLibrary;
AprilTagProcessor myAprilTagProcessor;

// Create a new AprilTagLibrary.Builder object and assigns it to a variable.
myAprilTagLibraryBuilder = new AprilTagLibrary.Builder();

// Add all the tags from the given AprilTagLibrary to the AprilTagLibrary.Builder.
// Get the AprilTagLibrary for the current season.
myAprilTagLibraryBuilder.addTags(AprilTagGameDatabase.getCurrentGameTagLibrary());

// Build the AprilTag library and assign it to a variable.
myAprilTagLibrary = myAprilTagLibraryBuilder.build();

// Create a new AprilTagProcessor.Builder object and assign it to a variable.
myAprilTagProcessorBuilder = new AprilTagProcessor.Builder();

// Set the tag library.
myAprilTagProcessorBuilder.setTagLibrary(myAprilTagLibrary);

// Build the AprilTag processor and assign it to a variable.
myAprilTagProcessor = myAprilTagProcessorBuilder.build();

```

--------------------------------

### Example Document Structure with Headings

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/make_rst/basic_rst_content/basic_rst_content

This example illustrates how the different heading levels, as defined by their special character underlines, would appear in a rendered document. It shows the hierarchical structure achieved through these formatting conventions.

```rst
11.3.1 Titles

11.3.1.1 Sections

11.3.1.1.1 SubSection

11.3.1.1.1.1 SubSubSection

11.3.1.1.1.1.1 SubSubSubSection

```

--------------------------------

### ReStructured Text: Paragraph Wrapping Example

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/make_rst/basic_rst_content/basic_rst_content

Demonstrates how ReStructured Text combines consecutive lines into a single paragraph, ignoring newlines, until a blank line is encountered. This example shows the source text and its rendered output.

```plaintext
This is a sentence, it is a normal sentence of normal length.
This is the next sentence, it is shorter.
This is a third sentence, you can see how the text wraps.

This is a sentence after a blank line.

```

--------------------------------

### Initialize Vuforia and TensorFlow Object Detection

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/webcam_controls/samples/samples

Initializes the Vuforia engine and the TensorFlow Object Detection (TFOD) engine. TFOD requires Vuforia to be initialized first. It loads a specified TensorFlow model from assets and configures detection parameters.

```java
        //  Instantiate the Vuforia engine
        vuforia = ClassFactory.getInstance().createVuforia(parameters);

        // Loading trackables is not necessary for the TensorFlow Object Detection engine.

    }   // end method initVuforia()

    /**
     * Initialize the TensorFlow Object Detection engine.
     */
    private void initTfod() {
        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
            "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
       tfodParameters.minResultConfidence = 0.8f;
       tfodParameters.isModelTensorFlow2 = true;
       tfodParameters.inputSize = 320;
       tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
       tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABELS);
    }  // end method initTfod()

}
```

--------------------------------

### Initialize TFOD and Vuforia for Object Detection

Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/vision/webcam_controls/samples/samples

This code initializes the Vuforia localization engine and the TensorFlow Object Detector (TFOD). It sets up the necessary models and labels for object recognition and activates the TFOD engine, including setting zoom levels for better detection. This is a prerequisite for using advanced camera controls like exposure and gain.

```java
import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
import java.util.concurrent.TimeUnit;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import java.util.List;

@TeleOp(name = "W TFOD Webcam Exposure & Gain v04", group = "Webcam Controls")

public class W_TFOD_WebcamExpGain_v04 extends LinearOpMode {
    /* Note: This sample uses the all-objects Tensor Flow model (FreightFrenzy_BCDM.tflite), which contains
     * the following 4 detectable objects
     *  0: Ball,
     *  1: Cube,
     *  2: Duck,
     *  3: Marker (duck location tape marker)
     *
     *  Two additional model assets are available which only contain a subset of the objects:
     *  FreightFrenzy_BC.tflite  0: Ball,  1: Cube
     *  FreightFrenzy_DM.tflite  0: Duck,  1: Marker
     */
    private static final String TFOD_MODEL_ASSET = "FreightFrenzy_BCDM.tflite";
    private static final String[] LABELS = {
      "Ball",
      "Cube",
      "Duck",
      "Marker"
    };

    /*
     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
     * web site at https://developer.vuforia.com/license-manager.
     *
     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
     * random data. As an example, here is a example of a fragment of a valid key:
     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
     * Once you've obtained a license key, copy the string from the Vuforia web site
     * and paste it in to your code on the next line, between the double quotes.
     */
    private static final String VUFORIA_KEY =
            //"   INSERT YOUR VUFORIA KEY HERE  ";
            
    /**
     * {@link #vuforia} is the variable we will use to store our instance of the Vuforia
     * localization engine.
     */
    private VuforiaLocalizer vuforia;

    /**
     * {@link #tfod} is the variable we will use to store our instance of the TensorFlow Object
     * Detection engine.
     */
    private TFObjectDetector tfod;

    // *** ADD WEBCAM CONTROLS -- SECTION START ***
    ExposureControl myExposureControl;  // declare exposure control object
    long minExp;
    long maxExp;
    long curExp;            // exposure is duration, in time units specified

    GainControl myGainControl;      // declare gain control object
    int minGain;
    int maxGain;
    int curGain;
    boolean wasSetGainSuccessful;   // returned from setGain()
    
    boolean isAEPriorityOn = false;
    // *** ADD WEBCAM CONTROLS -- SECTION END ***

    @Override
    public void runOpMode() {
        // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
        // first.
        initVuforia();
        initTfod();

        /**
         * Activate TensorFlow Object Detection before we wait for the start command.
         * Do it here so that the Camera Stream window will have the TensorFlow annotations visible.
         */
        if (tfod != null) {
            tfod.activate();

            // The TensorFlow software will scale the input images from the camera to a lower resolution.
            // This can result in lower detection accuracy at longer distances (> 55cm or 22").
            // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
            // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
            // should be set to the value of the images used to create the TensorFlow Object Detection model
            // (typically 16/9).
            tfod.setZoom(1.0, 16.0/9.0);    // modified for testing Exposure & Gain
            // tfod.setZoom(2.5, 16.0/9.0); // original settings in Concept OpMode
        }

        // *** ADD WEBCAM CONTROLS -- SECTION START ***

        // Assign the exposure and gain control objects, to use their methods.
        myExposureControl = vuforia.getCamera().getControl(ExposureControl.class);
        myGainControl = vuforia.getCamera().getControl(GainControl.class);

        // get webcam exposure limits
        minExp = myExposureControl.getMinExposure(TimeUnit.MILLISECONDS);
        maxExp = myExposureControl.getMaxExposure(TimeUnit.MILLISECONDS);

        // get webcam gain limits
        minGain = myGainControl.getMinGain();
        maxGain = myGainControl.getMaxGain();
    }

    // --- Helper Methods (assumed to be present in a full class) ---
    private void initVuforia() {
        // Vuforia initialization code would go here
        // Example:
        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
        // parameters.vuforiaLicenseKey = VUFORIA_KEY;
        // parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;
        // vuforia = ClassFactory.getInstance().createVuforia(parameters);
    }

    private void initTfod() {
        // TFOD initialization code would go here
        // Example:
        // int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
        //     "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        // TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
        // tfodParameters.minResultConfidence = 0.8;
        // tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
        // tfod.loadModelFromFile(TFOD_MODEL_ASSET, LABELS);
    }
}
```

--------------------------------

### Example Auto-enumerated List

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/tutorials/make_rst/basic_rst_content/basic_rst_content

Illustrates the use of auto-enumerators ('#.') for creating lists where items are automatically numbered, useful for dynamic content.

```text
#. This is item #1
#. This is item #2
#. Auto-enumerators are useful when adding things
into lists without having to manually re-number
or re-order lists.

   (a) This is item 1 in the sub-list

#. This is the fourth item in the main list.

```

--------------------------------

### Initialize VisionPortal with Chained Builder (Java)

Source: https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/visionportal_init/visionportal-init

Demonstrates the streamlined Java Builder pattern for VisionPortal initialization, allowing all custom settings to be configured in a single chained statement ending with '.build()'.

```java
VisionPortal myVisionPortal;

myVisionPortal = new VisionPortal.Builder()
    .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
    .addProcessor(myAprilTagProcessor)
    .setCameraResolution(new Size(640, 480))
    .setStreamFormat(VisionPortal.StreamFormat.YUY2)
    .enableCameraMonitoring(true)
    .setAutoStopLiveView(true)
    .build();
```

--------------------------------

### Create Download Button Link (RST)

Source: https://ftc-docs.firstinspires.org/en/latest/contrib/style_guide/style-guide

This RST snippet illustrates how to create a button-like link for downloading files, such as PDFs. This approach is recommended for file downloads as it visually distinguishes the action from regular links and provides context for screen readers.

```rst
Use the following button link to download a PDF of the Field Setup Guide from the *FIRST* Website:

.. button-link:: https://ftc-resources.firstinspires.org/file/ftc/game/fieldguide
   :color: primary

   Download Field Setup Guide PDF, 4.5 MB
```
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