Launchpad

FTC robot framework by Team 4096. This package provides reusable building blocks for both teleop and autonomous operation. Each sub-package is independent; use only what your op mode needs.

Core

Loop

Single-method interface (loop()) implemented by anything that needs to run every tick — subsystems, gamepads, actions, localizers.

Robot

Manages a list of Subsystem instances. Call register(subsystem) to initialize and track a subsystem, then call robot.loop() each tick and robot.stop() on shutdown.

Robot robot = new Robot(hardwareMap);
MyArm arm = robot.register(new MyArm());
// in loop():
robot.loop();

TeleopBase

Abstract OpMode subclass that creates a Robot and two Gamepad wrappers. Override registerSubclasses() to call robot.register(...) for each subsystem.

MotorTestTeleop

An Opmode designed for testing multiple motors. Automatically detects active motors and allows manipulating speed and velocity via Gamepad

ServoTestTelop

An Opmode designed for testing multiple servos. Automatically detects active motors and allows manipulating position via Gamepad

Constants

Robot-specific tuning values: drive motor config, mecanum coefficient matrix, Pinpoint offsets, movement velocity/steepness, and GoBilda motor tick counts.

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Packages

actions

An action is a discrete, reusable task with an init(), loop(), and isComplete(). Actions are composable:

Class	Description
Action	Interface: init(), loop(), isComplete()
SequentialAction	Runs actions one after another
SimultaneousAction	Runs actions concurrently; completes when all finish. Supports add(action, init, removeOld) at runtime
RunOnceAction	Completes after one loop() tick
CustomAction	Wraps a Runnable as a RunOnceAction
SleepAction	Waits for a specified duration
EmptyAction	No-op; immediately complete
MoveToAction	Drives the robot to a target FieldPosition
DcMotorToPositionAction	Moves a DcMotorEx to an encoder target
SetMotorPowerAction	Sets motor power for one tick
SetServoRotationAction	Moves a servo to a target position
ColorSensorDistanceAction	Waits until a ColorSensor reads within a target distance

controllers

Closed-loop controllers that return a power output given an error signal.

Class	Description
Controller	Interface: getPower(), getError()
PIDController	Standard PID with smoothed derivative (α = 0.01). Accepts either a current/target supplier pair or a raw error supplier
SigmoidController	Sigmoid-shaped response: power × 2 × (sigmoid(error × steepness) − 0.5). Good for smooth deceleration

gamepad

Wraps the FTC Gamepad into typed input objects that track state across ticks.

Gamepad exposes every input as a typed field. Call gamepad.loop() each tick (done automatically by TeleopBase).

Input types:

Class	Interfaces	Capabilities
Button	GOnPress, GOnRelease, GWhileDown, GIsPressed, GOnToggle, GIsToggled	Edge detection, toggle state, callbacks
Trigger	analog, threshold callbacks	Continuous value with pressed/released events
Joystick	x/y suppliers	Raw axis values with corrected Y polarity

All input types support a fluent builder API:

gamepad.aButton.onPress(() -> arm.open());
gamepad.bButton.onToggle(on -> claw.setPosition(on ? 1.0 : 0.0));
gamepad.leftTrigger.whileDown(() -> intake.run());

hardware

Typed wrappers around FTC hardware that convert raw units to physical units.

Class	Description
Motor	Wraps DcMotorEx. setVelocity(in/s) / getVelocity() convert between inches/second and encoder ticks/second using ticksPerRotation and wheelDiameter. Requires a MotorConfig or explicit parameters for velocity control
MotorConfig	Value class: ticksPerRotation, wheelDiameter
PinpointModule	Thin wrapper around the GoBilda Pinpoint odometry computer

geometry

Coordinate and vector primitives.

Class	Description
Point	2D (x, y) in inches
FieldPosition	Point + direction (radians CCW from +X). X+ toward audience, Y+ toward right
MovementVector	(verticalVelocity, horizontalVelocity, rotationalVelocity) in in/s and rad/s
Angles	Angle math utilities

movement/mecanum

Low-level mecanum drivetrain control.

MecanumDriver takes four Motor instances and a MecanumCoefficientMatrix. All motors are set to BRAKE on construction.

Method	Description
setRelativePower(MovementVector)	Robot-centric power, normalized to [-1, 1]
setRelativeVelocity(MovementVector)	Robot-centric velocity in in/s
setAbsolutePower(FieldPosition, MovementVector)	Field-centric power — rotates the vector by the robot's heading
setAbsoluteVelocity(FieldPosition, MovementVector)	Field-centric velocity

MecanumCoefficientMatrix computes per-wheel coefficients and handles direction inversion via a MecanumCoefficientSet.

pathing

Localization interface and implementations. Separate from movement; localizers do not touch motors.

Class	Description
Localizer	Interface: init(), loop(), getCurrentPosition() → FieldPosition
PinpointLocalizer	Implements Localizer using a GoBilda Pinpoint. Configures pod offsets (mm), directions, and encoder resolution on construction. Also exposes getVelocity(), setCurrentFieldPosition(), and isDoneInitializing()

manipulators

Base class for robot subsystems.

Subsystem extends Loop and adds init(HardwareMap) and an optional stop(). Register subsystems with Robot.register() — this calls init immediately and schedules loop/stop automatically.

sensors

Class	Description
Encoder	Interface for reading encoder position
MotorEncoder	Implements Encoder from a DcMotorEx; converts ticks to inches
ColorSensor	Wraps RevColorSensorV3. getColor() returns an RGB Color normalized to [0, 1]. getDistance() returns inches

vision

Class	Description
LimelightManager	Wraps Limelight3A. getVisibleAprilTags() switches to pipeline 3 and returns a list of AprilTagResult (id, angular offsets, area %, robot-space pose). Pipeline switching waits for a new frame before returning

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Adding a subsystem

1. Extend Subsystem.
2. Acquire hardware in init(HardwareMap).
3. Run control logic in loop().
4. Register in your op mode's registerSubclasses():

MySlides slides = robot.register(new MySlides());

Coordinate system

• X+ toward the audience viewing area
• Y+ toward the right side of the field
• direction = 0 facing X+ (toward audience)
• Angles increase counterclockwise (radians)