Swerve FTC Library
The programming mentors at Swerve Robotics have worked hard to enhance the FTC Android Robot Controller Library. The purpose of the Swerve Robotics library is to augment the robot controller library in order to simplify programming for FTC teams. Notable features of the library include:
- A synchronous OpMode that brings back the synchronous, linear programming style with which teams have been familiar with from previous seasons.
- An enhanced form of telemetry containing a dashboard and a log.
- An I2cDeviceClient class that wraps I2cDevice instances and makes them easy to use by handling read-vs-write mode switches and attendant waits automatically and transparently.
- A class that is built on I2cDeviceClient that provides a clean interface to the Bosch BNO055 absolute position sensor, allowing teams to make easy use of the AdaFruit breakout board which incorporates that sensor module.
- An alternate OpMode registration mechanism that eliminates the need to modify any file outside of team files. The old FtcOpModeRegister.register() still works too.
Our library is built on top of the ftc_app provided by FIRST in our fork of that repostiory. You can see our fork and the complete instructions for using it here: https://github.com/SwerveRobotics/ftc_app
Swerve Tools – BotBug
BotBug helps you debug your robot over Wifi by automatically configuring robot controller phones for Wifi debugging whenever they connect to your PC using USB.
Wifi debugging is especially useful for FTC robots, as it supports live Android Studio debugging and downloading of updates of a team’s software even while the robot is in its game configuration, connected to its sensors and motor and servo controllers. Configuring Wifi debugging by hand can be straightforward but tedious, and its several command-line steps must be done (at least) each time a phone boots or Android Studio restarts.
You can download the latest installer for the BotBug tool here: https://github.com/SwerveRobotics/tools/releases