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

Author: acharraggi

.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