FTC_Library

Common classes used in FIRST Tech Challenge OpModes. The OpModes are stored in another repository (FTC_OpModes).

ArrayQueue.java

High performance FIFO for intra-thread buffering. When used for inter-thread buffering, external synchronization is required.

An example of usage can be seen at

• http://olliesworkshops.blogspot.com/2015/11/arduino-wire-library-for-i2c-sensors.html
• http://olliesworkshops.blogspot.com/2015/11/fix-in-ftc-wire-library.html

Bno055.java

Bno055 is a 9 degree of freedom (9 DOF) sensor from Bosch. It is also known as inertial measurement unit (IMU). In addition of the three core sensors, gyroscope, accelerometer, and magnetometer.

Additional descriptions can be found at

• http://olliesworkshops.blogspot.com/2015/11/bno055-imu-sensor-with-ftc-wire-library.html

Box.java

Box is used as a wrapper class to enable parameter passing by reference. In Bno055.java, this feature is used to implement a dynamic scheduler that allows multiple entries for the same item. For details see

• http://olliesworkshops.blogspot.com/2015/11/bno055-imu-sensor-with-ftc-wire-library.html

DataLogger.java

With DataLogger an OpMode can collect unlimited amount of data items in a Comma Separated Values (CSV) file that can be opened with Excel for further analysis. There is no limit how many DataLoggers an OpMode can use.

Some examples and illustrations can be found at

• http://olliesworkshops.blogspot.com/2015/11/using-excel-to-analyze-ftc-opmode.html
• http://olliesworkshops.blogspot.com/2015/10/i2cxl-maxsonar-registers.html
• http://olliesworkshops.blogspot.com/2015/10/i2cxl-maxsonar-with-wire-library.html
• http://olliesworkshops.blogspot.com/2015/10/ftc-i2c-sensor-driver-architecture.html
• http://olliesworkshops.blogspot.com/2015/11/arduino-wire-library-for-i2c-sensors.html

Wire.java

This is emulating the Arduino Wire library used to communicate with I2C devices. Due to reasonable long response times (5 - 15 ms) through Device Interface Module (DIM), all methods in FTC Wire library are non-blocking.

Some examples and illustrations can be found at

• http://olliesworkshops.blogspot.com/2015/11/arduino-wire-library-for-i2c-sensors.html
• http://olliesworkshops.blogspot.com/2015/11/fix-in-ftc-wire-library.html
• http://olliesworkshops.blogspot.com/2015/10/i2cxl-maxsonar-with-wire-library.html
• http://olliesworkshops.blogspot.com/2015/11/i2c-color-sensor-with-ftc-wire-library.html
• http://olliesworkshops.blogspot.com/2015/11/bno055-imu-sensor-with-ftc-wire-library.html