ftc-lib

Yes, ts was generated... No I do not believe in an AI takeover

ftc-lib is a high-performance, state-machine-driven framework designed for FTC teams who prioritize clean code, modularity, and hardware optimization. It provides a robust abstraction layer over standard FTC OpModes, integrating PedroPathing for precision movement and Panels (Sloth) for live configuration and telemetry.

🚀 Key Features

Template Method Backend: A locked-down engine that handles hardware synchronization, bulk reads, and FPS capping automatically.
Write-Caching Hardware (CMotor & CServo): Optimized wrappers that eliminate redundant hardware writes, drastically reducing loop times (often 200+ FPS).
Universal PIDF Engine: A comprehensive feedback hierarchy (P, PD, PID, PIDF) featuring:
- Voltage Compensation: Consistent power output across the entire battery range.
- Low-Pass Filtering: Smooths noisy encoder data for jitter-free movement.
- Anti-Windup: Prevents integral "explosion" during physical stalls.
- Physics Feedforward: Built-in models for Gravity (kG), Arm-Cosine (kCos), and Static Friction (kS).
Routines & Action Sequencer: A non-blocking script engine to run complex macros (e.g., Auto-Score) in the background while the driver retains control.
Enhanced Gamepad: Built-in rising/falling edge detection (aWasPressed()) and Cubic Input Scaling for high-precision driving.
Limelight MegaTag2 Pose Healing: Periodically "heals" PedroPathing odometry drift using global AprilTag localization.
Trapezoidal Motion Profiling: Smooths out acceleration and deceleration for heavy mechanisms like lifts and arms.
Hardware Health Monitor: Performs safe initialization and reports hardware failures via Panels before the match starts.

📂 Project Structure

teamcode/
├── lib/                   
│   ├── actions/           # Routine & Action Sequencer
│   ├── hardware/          # CMotor, CServo, EnhancedGamepad
│   ├── pid/               # Universal PIDF Controller Hierarchy
│   ├── util/              # LLUtil, BaseOpMode, SubsysManager
│   └── Subsystem.java     # Base Subsystem template
├── subsys/                # Robot-specific mechanisms (Drivetrain, etc.)
├── util/                  # AutoTransfer, FPSCounter
├── Constants.java         # Centralized @Configurable panel
└── opmodes/               # TeleOp and Autonomous files

🛠 Usage Guide

1. Enhanced Gamepad & States

The backend automatically updates g1 and g2. Use edge detection for clean state transitions.

@Override
protected void stateMachineUpdate() {
    // Stick inputs are automatically cubic-scaled and deadbanded
    drive.setDriveVectors(-g1.left_stick_y(), g1.left_stick_x(), g1.right_stick_x());

    if (g1.aWasPressed()) {
        robotState = GlobalState.SCORING;
    }
}

2. Writing a Routine

Routines allow you to script the robot without using sleep().

routines.run(
    Routine.sequence(
        Routine.instant(() -> lift.setTarget(3000)),
        Routine.waitUntil(() -> lift.atSetpoint()),
        Routine.instant(() -> claw.open()),
        Routine.wait(250),
        Routine.instant(() -> lift.setTarget(0))
    )
);

3. Smart Hardware

Use CMotor and CServo in your subsystems to save several milliseconds per loop.

public void init(HardwareMap hwMap) {
    liftMotor = new CMotorEx(hwMap.get(DcMotorEx.class, "lift"));
}

public void update() {
    // This only writes to the hub if the power actually changes!
    liftMotor.setPower(calculatedPID); 
}

⚡ The "Tick" Lifecycle

Every loop, ftc-lib executes in this strict sequence:

Hardware Sync: Clears Bulk Cache on all Hubs.
Input Update: Takes a snapshot of g1 and g2.
Localization: Updates PedroPathing Follower and performs Limelight Pose Healing.
Routine Tick: Progresses background Actions.
Logic Tick: Runs your stateMachineUpdate() (State Machine).
Subsystem Tick: Runs update() on all registered subsystems.
Telemetry Gate: Pushes data to Panels/Driver Station based on TELEMETRY_DELAY_MS.
Loop Sync: Sleeps to maintain a steady TARGET_FPS.

📦 Dependencies

🤝 Contribution Best Practices

Safety First: Always include a routines.cancelAll() and follower.breakFollowing() on a panic button (e.g., gamepad1.back).
Null-Safety: Use the CMotor.exists() check in your subsystem isHealthy() overrides to prevent crashes from unplugged hardware.
Physics: Use kG for vertical lifts and kCos for arms to keep your PID coefficients small and stable.

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