Coming from last season's code

The library started from the 2025-26 (DECODE) robot code, branch codex/biobuzz-base of the team’s FtcRobotController repository. This page is for programmers who know that code. New to it? Start with the Quick start instead.

This table shows where each reusable part went and what changed. Game-specific code (launcher, feed, intake, vision, routes) is NOT in the library.

Last season	Now	What changed
input/ControllerBindings	gamepad.ControllerBindings	Same bindPress/bindHold/bindToggle/bindTriggerPress/bindTriggerAxis. New: bindRelease, bindTriggerHold, setTriggerThreshold, ignoreHeldButtons (replaces the per-button “seeded” press), isDown, GUIDE and TOUCHPAD buttons. Fixed: trigger presses no longer borrow the bumper’s slot. registerExtraButtonReader is now registerExtraButton.
input/DriveInputScaling.slowScale	gamepad.StickShaping.slowScale(trigger, slowest)	The slowest speed is a parameter instead of a static setting. New: curve, shape.
input/ReverseDriveControl	drive.ReverseDrive	No longer binds a button itself; you bind it (see drive.md).
utils/RumbleNotifier	gamepad.AimRumble	Same feel and defaults. setMinMax is now setFeel; setActive is setEnabled.
utils/ToggleRumble	gamepad.ToggleRumble	Pattern is set with setPattern instead of a static config class. isConfirming is now isPlaying.
drive/MecanumMixer	drive.MecanumMixer	Same mix. fieldVector is now fieldDirection. New: fieldToRobot for field-centric TeleOp.
drive/MecanumDrive	drive.MecanumDrive	Takes a DriveConfig object instead of the static RobotConfig. New: driveFieldCentric, setPowers, setBrake.
drive/Drivebase (Auto helpers)	drive.AutoDrive	Settings come from AutoDriveConfig (same default numbers as DriveTuning). moveWithTwist is now moveWithTurn. New: turnTo, a Result for each move. Changes below.
config/DriveTuning	drive.AutoDriveConfig	Fields renamed in plain words, for example TURN_KP is turnKp, AUTO_MOVE_MIN_SPEED is moveMinPower.
odometry/FieldPose, odometry/PoseStore	util.FieldPose, util.PoseStore	setLastKnownPose/consumeLastKnownPose are now save/consume; peek, has and clear remain.
auto/BaseAuto + AutoSequence	auto.AutoRoutine, auto.EasyAuto	Same idea (a chain of named steps, endgame/park reserve, remembered heading). Game steps (fire, intake rows) are gone: mechanisms give their own steps. Steps are mirrored for RED by the routine.
subsystems/Launcher, control/FiringController, config/AutoRpmConfig	launcher.Flywheel, launcher.Launcher, launcher.ShotTable	General versions: RPM with settle time and shot detection; readiness gating with named checks and a give-up reason; distance table with hood angles.
subsystems/Feed	launcher.MotorFeeder, launcher.ServoFeeder (Feeder interface)	One piece per call; the launcher decides when.
subsystems/Intake jam logic	mechanism.SpinMotor, safety.JamDetector	General jam detection and back-out; the DECODE packing states are not included.
vision/*	vision.WebcamTags, vision.LimelightTags, vision.AimController	Rewritten for SDK 12 (single tags and clusters). Bearing is + = left for both cameras. No field localization (BIOBUZZ tags move).
Alliance, TeleOp_Blue/TeleOp_Red	match.Alliance, match.MatchMemory	One TeleOp for both alliances: it reads the alliance autonomous chose.
TeleOp auto-stop timer	match.MatchTimer	Countdown with cues and gamepad buzzes.
config/* tunables + FTC Dashboard	tuning.Tunable, tuning.TuningMenu, core.Profile	Tune from the gamepad, saved on the hub; Dashboard still optional.
(new)	drive.TankDrive (standard drive), safety.SafeMotor, control.PidController, control.SlewRateLimiter, telemetry.TelemetryHelper, hardware.*	New helpers.

Behavior changes in AutoDrive (on purpose)

• Power limit: DriveConfig.powerLimit now applies to every autonomous move and turn.
• Diagonal distance: distance is measured from the real forward and sideways travel. Before, a 45 degree move stopped short (about 17 of 24 inches), and the strafe correction had no effect on pure strafes. The sideways power is also raised by strafeCorrection, so diagonals keep their direction. Re-tune strafeCorrection with the steps in drive.md.
• moveWithTurn only finishes its turn after a successful move, and inside the same time limit. Before, a stuck robot could start turning, and the time limit could nearly double.
• Negative distance now drives the opposite way. Before, move(-10, 0, ...) drove FORWARD 10 inches.
• Stall check looks at progress over a time window (0.25 in within 0.4 s by default). Before, it checked each loop, so a fast loop could wrongly decide a slow-moving robot was stuck.
• AUTO_STALL_VELOCITY_EPSILON is gone; stallProgressIn and stallTimeSec do the whole job.
• turnMinPower (new, default 0 = old behavior) can stop turns from stalling just short.
• Every move returns DONE, STALLED, TIMED_OUT or STOPPED.
• Unused leftovers (setRunToPosition, restoreBaseRunMode, the TeleOp drive() inside Drivebase) were removed. For TeleOp, use MecanumDrive.