Work in progress. This library and its docs are new and still changing, and some parts are not yet tested on a real robot. Something wrong or unclear?Tell us (a GitHub issue).

Match module

Package: com.crossbotics.ftchelper.match

Learn it hands-on: 15 Telemetry, profiles and tuning, 16 Easy autonomous.

Things about the MATCH, not the robot: red or blue, the clock, choices made in INIT, and what autonomous tells TeleOp. EasyAuto, EasyTeleOp and the robot in five files use these for you. Use this page when you write your own OpMode, or to add a timer cue or an INIT choice.

Class	Use it to
`Alliance`	red/blue, and mirror a route written for blue
`MatchTimer`	count down a period and buzz at set times
`InitMenu`	choose alliance, delay, route… with the gamepad in INIT
`MatchMemory`	pass the alliance (and pose: where the robot is and which way it faces) from autonomous to TeleOp

Alliance

Alliance.BLUE or Alliance.RED.

Method	What it does	Example
`mirror(blueValue)`	same for blue, negated for red	`RED.mirror(90)` = -90
`pick(blue, red)`	one value per alliance	`alliance.pick(20, 24)` (tag ids)
`other()`	the other alliance
`sign()`	+1 blue, -1 red

Write routes for BLUE. AutoRoutine.mirrorFor(alliance) flips every turn, heading and sideways direction for RED. Check each season’s field. If the red half is ROTATED (turned around) instead of mirrored, forward and back flip as well, and you need your own rule for that (see New season).

flowchart LR
    B["Route written for BLUE<br/>turn(45), move(20, 90)"] --> M{alliance}
    M -- BLUE --> B2["turn(45), move(20, 90)"]
    M -- RED --> R2["turn(-45), move(20, -90)"]

MatchTimer

MatchTimer timer = MatchTimer.teleOp()            // 2:00   (autonomous(): 0:30)
        .rumbleAt(60, gamepad1, gamepad2)         // buzz both gamepads at 1:00 left...
        .rumbleAt(20, gamepad1, gamepad2);        // ...and at 0:20 left
waitForStart();
timer.start();                                    // counts from START, not from INIT
while (opModeIsActive()) {
    timer.update();                               // checks the clock, buzzes when due
    t.line("Time", timer.format());               // "1:23"
}

Method	What it does
`MatchTimer.autonomous()`, `MatchTimer.teleOp()`, `new MatchTimer(seconds)`	make one
`cueAt(secondsLeft, action)`	run code once at that time
`rumbleAt(secondsLeft, gamepads...)`	buzz the gamepads 3 times at that time
`start()`	start counting (right after `waitForStart()`)
`update()`	runs the cues; call every loop
`secondsLeft()`, `elapsedSec()`, `isOver()`, `isRunning()`	read
`format()`	“m:ss” like the field clock

2026-27 BIOBUZZ cues worth adding: 1:00 (FLOWER ownership unlocks) and 0:20 (final 20 seconds). The field clock is the official one; this timer starts with your OpMode and can be a second off.

InitMenu

InitMenu menu = new InitMenu(gamepad1)
        .alliance()                      // X = blue, B = red
        .delay(10)                       // start delay 0..10 s
        .choice("Route", "Near", "Far")
        .yesNo("Park", true)
        .profile();                      // practice / competition
while (opModeInInit()) {                 // repeats until START (instead of waitForStart())
    menu.update();                       // reads the D-pad and changes the choices
    menu.addTelemetry(t);
    t.update();
}

Method	What it does
`alliance()`	adds the alliance line (starts at the one remembered from earlier, else BLUE)
`delay(maxSeconds)`	adds a start delay, 1 s steps
`choice(label, options...)`	adds a list; the first option is the default
`yesNo(label, startYes)`	adds a YES/NO line
`profile()`	adds PRACTICE/COMPETITION (saved when changed)
`update()`, `addTelemetry(t)`	every INIT loop
`getAlliance()`, `getDelaySec()`, `get(label)`, `isYes(label)`	read the choices

Controls: D-pad up/down = choose a line, left/right = change it. X/B are alliance shortcuts. EasyAuto builds this menu for you.

MatchMemory

MatchMemory.remember(Alliance.RED, pose);            // end of autonomous (EasyAuto does it)
// TeleOp INIT: the alliance autonomous saved, or BLUE if nothing (recent) was saved
Alliance a = MatchMemory.allianceOr(Alliance.BLUE);  // TeleOp INIT
boolean fromAuto = MatchMemory.hasAlliance();        // false: let the drivers choose (EasyTeleOp does)
MatchMemory.rememberReport(lines);                   // end of autonomous: its report (EasyAuto does it)
List<String> report = MatchMemory.lastReport();      // TeleOp INIT shows it
MatchMemory.setPlacement(pose, "Against our wall"); // autonomous's start spot (EasyAuto does it); the
FieldPose spot = MatchMemory.placement();            //   simulator puts the robot there in INIT
FieldPose p = MatchMemory.fieldPose(Alliance.BLUE, 56, -61.55, 0);   // a spot seen from that alliance's wall
MatchMemory.setChosen(Alliance.RED);                 // the alliance in use now (EasyAuto/EasyTeleOp do it);
Alliance now = MatchMemory.chosen();                 //   the simulator turns its drivers' view to it

Lets ONE TeleOp serve both alliances. The memory lasts until the app restarts and is ignored after 5 minutes (MAX_AGE_SEC), so an old match never leaks into a new one. The pose goes to PoseStore (util).