kevinfrei/TechnoLib

TechnoLib

TechnoLib is a FTC Library for everyone:

WPILib inspired command structure
Tons of simple implementations to provide abstractions, and teach you the basics
EOCV integration for vision
RoadRunner integration for pathfollowing
Annotation based Telemetry
And much much more

The goal of this library is stated as follows The goal of TechnoLib is not only to provide versatile resources that assist in software development and strengthen code structure, but to also abstract out redundancy.

Installation

But if this library is so good, it must be hard to install right? wrong:

Add this right before the dependencies{} block in TeamCode/build.gradle:

   repositories{
    ` maven { url = 'https://maven.brott.dev/' }
      maven { url 'https://jitpack.io' }
   }

And add this to the dependencies block in TeamCode/build.gradle: implementation 'com.github.technototes:TechnoLib:1.2.0' (replace 1.2.0 with the latest release)
Build the code and you are good to go

Version 1.2.0 has breaking changes.

See below for details

Ease of Use

But if this library is so powerful, won't it be hard to use? Nope, in fact its easier than without the library

Complex subsystems have already been written for you
Plenty of simple things to make your life easier
Test implementation so you can see how to make this work

Documentation

Documentation can be found here

There are not currently any good 'stand alone' examples. The best place for you to get an idea of how this stuff works is in our robot code. It's all public on github:

Freight Frenzy (2021-2022)'s 16750 robot source code (this is a more advanced usage, written by the library's primary author)
Freight Frenzy (2021-2022)'s 20403 robot source code (This is a simpler usage, written by students who mostly learned by example)
And here's a PowerPlay (2022-2023) based example "learning" bot (This is a very basic example of a few concepts, include vision)

Breaking changes

Version 1.3.0:

The two conflicting MecanumDrivebaseSubsystem classes, on in RobotLibrary, and one in Path, are now differentiated: SimpleMecanumDrivebaseSubsystem and PathingMecanumDrivebaseSubsystem. Check which module you were importing to and change your code to use the appropriate drivebase subsystem.
The button names are now prefixed with xbox_ or ps_ depending on if the button is on an XBox controller, or a PlayStation controller. This is particularly helpful when you're trying to use the "X" buttons. On the XBox controller, it was called x and now it's called xbox_x, while the button with an "X" on a PlayStation controller was called cross and is now called ps_cross.

Version 1.2.0:

For SDK 8.1 and later, there's a new IMU class that handles a bunch of stuff that was handled by the BNO055 IMU internally. This resulted in changes in TechnoLib's IMU class. You will not likely need to use the remapAxes function (which has been renamed) and the constructor for the IMU now requires that you specify the orientation of your control hub. The SDK also changed the axes' orientation on the hub. You'll be happier by just switching your mental model to the new IMU class (but it's weird that FIRST changed it :/ )

kevinfrei / TechnoLib