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crossbotics
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).

Pick your template

For: a team that starts its robot code. You need: the library in your robot project (Add it to a project).

A template is robot code you copy and then change. Start from the one that looks most like your robot: you delete less and type less. Each one (except the last row) is a robot in five files: Robot.java, Tunables.java, Controls.java, Actions.java and an autos folder (Lesson 1 explains them).

Your robot looks like this: start from that

Section titled “Your robot looks like this: start from that”
Your robot looks like… Start from What it has
anything, and its configuration is on the Driver Station ./gradlew :sim:newRobot (Quick start, way A) five files made for you from your configuration, with each part’s line and TODO marks
a mecanum drive and an intake, no configuration yet quickstart (Quick start, way B) the smallest robot, with STEP marks on every line to change
a mecanum drive, an intake, a lift and a claw lessonbot the lesson robot of lessons 2 to 6, and its Drive Tuner
goBILDA’s FTC StarterBot (BIOBUZZ) gobildabot tank drive, intake with two corner wheels, flywheel and “windmill” feeder; goBILDA’s own names
REV’s DUO FTC Starter Bot (BIOBUZZ) revbot tank drive, intake, flywheel and CR-servo feeder, the pollen pusher (“poker”); REV’s own names
AndyMark’s Robits BIOBUZZ StarterBot andymarkbot tank drive, roller intake, the catapult (see the note below); AndyMark’s own names
Studica’s FTC Starter Bot (BIOBUZZ) studicabot tank drive, intake, flywheel and servo flap (see the note below); Studica’s own names
a tank drive and a flywheel shooter flywheelbot intake on from the start, a deploy servo, a flywheel the driver speeds up and down, a servo feeder
a mecanum drive with a turret and a camera turretbot a Limelight that the turret follows, speed from distance, a folding claw, a Shot Tuner (lesson 9)
a mecanum drive with odometry (Pinpoint, OTOS or dead wheels) odometrybot driveTo field points, the Odometry Tuner (lesson 7)
a mecanum drive with odometry and Pedro Pathing pedrobot odometrybot plus paths (lesson 8); add Pedro to the project first (lesson 8, section 3)
you already use the older six-file starter kit starter (Starter kit) EasyTeleOp and EasyAuto; kept for teams that use it. New teams: use a row above

Not sure? Use :sim:newRobot if your configuration is ready, and quickstart if it is not. You can copy single lines from the other templates later (for example the launcher line from flywheelbot).

The kit bots use the same configuration names as each seller’s own code, so the files run on that kit as it is. Where each number comes from: The four BIOBUZZ starter bots. Two kit mechanisms are not parts of the library, so their templates use the closest part and say so in Robot.java:

  • AndyMark’s catapult: the library has no catapult. The template drives its motor as an Indexer that runs for a set time per press. Tune that time so one press is one throw. The library cannot tell when the catapult is wound, so it cannot wait for “ready” as a flywheel does.
  • Studica’s flywheel: the Maverick motors are not in the library’s motor list, so goBILDA motors stand in for them, and the launcher cannot take the 2:1 gear between the motor and the wheels. The flywheel speed in Tunables.java is the motor’s, as the library counts it. Tune it by watching shots.

Copy a template into TeamCode

Section titled “Copy a template into TeamCode”

:sim:newRobot writes the files into TeamCode for you: skip this part. For every other template:

  1. Copy the template’s .java files into TeamCode/src/main/java/org/firstinspires/ftc/teamcode/. Make a folder autos there (right-click teamcode, New > Package, autos) and copy the files from the template’s autos folder into it.

  2. Change the first line of each file (the package line) to the folder it is in now:

    • files next to Robot.java: package org.firstinspires.ftc.teamcode;
    • files in autos: package org.firstinspires.ftc.teamcode.autos;

    Why: the package line must match the folder the file is in, or it does not build.

  3. In the files in autos (and any other file that imports them), change the imports of the template’s classes to your package. For example, in gobildabot/autos/LaunchAndBackUp.java:

    import com.crossbotics.ftchelper.examples.gobildabot.Robot;   // before
    import org.firstinspires.ftc.teamcode.Robot;                 // after

    Do the same for Actions and Tunables. Android Studio marks every line it cannot find in red.

  4. Delete the @Disabled line in Controls.java and in each autonomous, and also its import com.qualcomm.robotcore.eventloop.opmode.Disabled; line. Why: the examples are hidden on the Driver Station with @Disabled, so they do not fill the list on a real robot.

  5. Change the names in @TeleOp(name = ...) and @Autonomous(name = ..., preselectTeleOp = ...) to your own; preselectTeleOp must be the TeleOp’s name exactly.

  6. Build. Then check the motor directions with the wheels off the ground (Lesson 2), and every part with the Hardware Check: Check the hardware (lesson 2b).

Numbers: every number in Tunables.java is a starting value. Find the real ones with the finders. If you change a number live on the robot (the tuning menu), copy the new value back into Tunables.java: INIT lists the values that differ. If you do not, the next build loses it.

Try it first in the simulator. The kit bots have robot files: for example ./gradlew :sim:run -Probot=sim/robots/starter-bot-rev.properties -PteamCode=none, then pick “REV Bot TeleOp” (Simulator guide).

Next

Section titled “Next”

Lesson 1: The robot in five files: what each file is for. Then the rest of the main track.