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Welcome | FTCLib Docs FTCLib is a library designed to be the only library you'll need for FTC programming The project was initially meant to be a port of WPILib, which is the standard programming library for FRC that almost all teams use
Installation - FTCLib Docs Installation How to import FTCLib into your Android Studio FTC Project build common gradle First, you need to add the mavenCentral library repository to your build gradle file at the project root:
Controllers - FTCLib Docs In FTCLib, there are controllers that can improve the motion of mechanisms in FTC This includes PID control and feedforward control For information on the theory behind PID control, we recommend reading this page in gm0
Motors - FTCLib Docs Position control has the motor run to a desired position based on the input speed and the distance between current motor position and target position (in counts) This utilizes a P controller whose coefficient can be changed using setPositionCoefficient(double) This is a tuned value For tuning, we currently recommend using FTC Dashboard
Command System - FTCLib Docs The command-based library provides several types of command groups for teams to use, and users are encouraged to write their own, if desired As command groups themselves implement the Command interface, they are recursively composable - one can include command groups within other command groups
Command - FTCLib Docs The CommandScheduler recognizes scheduled commands as being in one of three states: initializing, executing, or ending Commands specify what is done in each of these states through the initialize(), execute() and end() methods Commands are represented in the command-based library by the Command interface
Hardware - FTCLib Docs FTCLib offers a lot of hardware devices that can be implemented or customized into your program The best advice we can give to users is to take a look at the hardware package in the FTCLib repository Here is the list of devices we currently have available (not including motors):
Gamepad - FTCLib Docs The FTCLib provides enhanced Gamepad features These classes are essentially extensions of the stock FTC SDK Gamepad features but with easier implementation methods
Utility Functions - FTCLib Docs A look up table or LUT for short is used to store values and be able to quickly recall them The FTCLib provides 2 different variations of look up tables In this year's game they can be used to store different set and tested velocities or angles You can either retrieve the closest reference or you can interpolate through them