libsb

Various utilities for use with ftc_app

Using this in your project

First add the library to your list of dependencies. Here's an example TeamCode/build.gradle file:

apply from: '../build.common.gradle'
android {
    buildToolsVersion '25.0.0'
}
dependencies {
    repositories { mavenCentral() }
    compile 'com.suitbots:libsb:0.0.2'
}

The dependencies stanza is the important addition.

Available classes

Controller

The controller class wraps the usual Gamepad object and keeps track of button state for you such that you can tell the first time each button is pressed. Here's an example that lets you press X to reverse the drive direction of your robot.

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.suitbots.util.Controller;
public class ReversibleDrive extends OpMode {
    private Controller c1;
    private boolean forward;
    private DcMotor left, right;
    @Override
    public void init() {
        c1 = new Controller(gamepad1);
        left = hardwareMap.dcMotor.get("leftMotor");
        right = hardwareMap.dcMotor.get("rightMotor");
        right.setDirection(DcMotorSimple.Direction.REVERSE);
    }
    @Override
    public void loop() {
        c1.update();
        telemetry.addData("Direction (x)", forward ? "Forward" : "Reverse");
        telemetry.update();
        if (c1.XOnce()) {
            forward = ! forward;
        }
        left.setPower(c1.left_stick_y * (forward ? 1.0 : -1.0));
        right.setPower(c1.right_stick_y * (forward ? 1.0 : -1.0));
    }
}

Blinken

This class wraps the FTC Servo class for use with Rev's Blinken lights controller. Pass its constructor a servo and then call its named methods for blinking goodness.

import com.suitbots.util.Blinken;

[...]

@Override public void runOpMode() {
    final Blinken blinken = new Blinken(hardwareMap.servo.get("led"));
    waitForStart();
    while(opModeIsActive()) {
        if (gamepad1.a) {
            blinken.enactSolidRed();
        } else {
            blinken.off(); // or blinken.enactSolidBlack()
        }
    }
}