Help us test FTC-Helper-Lib

This library is new. We test it on our robots and in the simulator, but your robot is different. Small tests on many robots find the problems we cannot. Each test takes 15 to 90 minutes. A fail helps as much as a pass.

How testing works

1. Pick. Tick what your robot has below. You see only the tests that fit, most needed first.
2. Prepare. Read the whole test once. Do its Setup list. Read its Safety list.
3. Run. Follow the numbered steps. Write down what the Record list asks for.
4. Report. Press Report result on the test's page. A short GitHub form opens, already filled in.

• Simulator first. Tests marked "Simulator" need no robot, only a laptop. A test for both? Run it in the simulator first: it finds code problems without risk.
• Safety first. Safety glasses near a flywheel. Wheels off the ground for a first run. Low power. A hand near STOP. Hard stops on every lift, arm, turret and hood.
• Which version. These pages match release v0.17.4. Tests marked next release need a library newer than that: they show only if you tick "Show tests for the next release". The form asks which version you used.
• At an event. Test at home or school, not in a match. FTC Dashboard and Panels (web pages on a laptop that show the robot's numbers and change them while it runs) and Pedro's tuner page are not allowed at events (rule R704.D; the tests that use one say so).
• Your robot is not ours. Every test has a part "If your robot is different". Change what you must, and say what you changed in the report.
• Privacy. A GitHub account is needed to report. Write no student names, and share no video that shows faces. A team number is optional.

Pick tests for your robot

Where will you test?

Either Simulator (no robot) Real robot

Start from a starter bot (optional)

goBILDA starter botREV DUO starter botAndyMark Robits starter botStudica starter botClear

Drive

Mecanum drive Tank drive (2 or 4 motors)

Odometry

goBILDA Pinpoint SparkFun OTOS Dead wheels (2 or 3 pods) Pedro Pathing in the project

Camera

Limelight 3A Webcam

Shooter

Flywheel shooter Turret Turret home switch (touch or magnetic) Hood on a servo Hood on a motor with an encoder

Other parts

Intake Lift or arm with an encoder Colour sensor for game pieces Distance sensor for game pieces Light (goBILDA RGB or REV Blinkin) Two gamepads (two drivers)

Show

Tests for the next release (0) Tests that do not fit (greyed)

54 tests

• SHOT-06First spin-up with no flywheel numbers

  A new launcher should work before anyone has run the Flywheel Finder.

  high prioritySimulator or robotabout 10 minShooter and shot tables

  Needs: Flywheel shooter

• CTL-01Pause at BACK, and START-then-BACK pairs

  BACK is the panic button: it must pause the robot at the press, even if the driver holds it.

  high prioritySimulator or robotabout 15 minButtons and controls

  Needs: any robot

• ODO-02Set pose here - hold START 1 s on the reset spot

  When TeleOp runs without an autonomous first, the robot does not know where it is.

  high prioritySimulator or robotabout 20 minOdometry

  Needs: goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• SET-01Hardware Check finds every device and each motor counts up

  The Hardware Check is the first thing every team runs.

  high priorityReal robotabout 20 minSetup and Hardware Check

  Needs: any robot

• SHOT-02Never feeds a slow flywheel, and gives up after 3 s

  The launcher's two safety rules are the reason teams can trust the fire button: a piece is only fed when the wheel is at speed, and the launcher gives up after 3 s instead of firing late.

  high prioritySimulator or robotabout 20 minShooter and shot tables

  Needs: Flywheel shooter

• SHOT-04Speed trim on the D-pad, and last match's trim

  Some days every shot is a bit short.

  high prioritySimulator or robotabout 20 minShooter and shot tables

  Needs: Flywheel shooter, and Limelight 3A or Webcam or goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• SET-02A part that is not on the robot yet - optional() and the COMPETITION warning

  Robots are built in steps.

  high prioritySimulator or robotabout 25 minSetup and Hardware Check

  Needs: any robot

• AIM-03Whole-robot aim - the robot turns to the goal while you drive

  Most robots have no turret: they aim by turning.

  high prioritySimulator or robotabout 30 minAiming

  Needs: Limelight 3A or Webcam or goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• DRV-01First drive with the five files - wheels, sticks, slow and pause

  Driving is the first thing a team sees work.

  high priorityReal robotabout 30 minDriving

  Needs: Mecanum drive or Tank drive (2 or 4 motors)

• HOOD-01Hood Finder on a servo hood - stops and angles

  The hood's two stops (posA, posB) are hard limits: the hood never goes past them.

  high priorityReal robotabout 30 minHood

  Needs: Hood on a servo

• HOOD-02Motor hood - stops by hand, and it arrives before firing

  A motor hood knows where it is (its encoder), so the launcher waits until it arrives.

  high priorityReal robotabout 30 minHood

  Needs: Hood on a motor with an encoder, and Flywheel shooter

• ILK-02Interlock stop distance - a fast part brakes before its zone

  A motor does not stop the moment it is told to: the robot only decides once per loop, and a braking motor still coasts.

  high prioritySimulator or robotabout 30 minInterlock rules (two parts that must not collide)

  Needs: Lift or arm with an encoder or Turret

• MEC-01A lift or arm on two motors - same power, same moment

  Many lifts have a motor on each side.

  high priorityReal robotabout 30 minLifts, arms, claws and servos

  Needs: Lift or arm with an encoder

• SHOT-01Flywheel Finder - gains that hold the speed

  The Flywheel Finder works out the speed-control numbers (the gains) from one full-power spin.

  high priorityReal robotabout 30 minShooter and shot tables

  Needs: Flywheel shooter

• SIM-01Drive a kit bot in the simulator

  The simulator is how most teams will try the library first.

  high prioritySimulatorabout 30 minSimulator

  Needs: any robot

• SOM-01Shooting on the move - standing still nothing changes

  Shooting on the move is off by default until it is tested on a real robot.

  high priorityReal robotabout 30 minShooting on the move

  Needs: Flywheel shooter, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• TUR-02Turret with no switch - start angle and the angle carried to TeleOp

  A motor turret with no home switch only knows its angle if it starts where startAngle says.

  high prioritySimulator or robotabout 30 minTurret

  Needs: Turret

• AIM-01Turret follows the goal with the camera

  A turret that follows the goal takes the aiming off the drivers.

  high prioritySimulator or robotabout 40 minAiming

  Needs: Turret, and Limelight 3A or Webcam

• AIM-02Odometry backup aim when the camera is covered

  When a tag is hidden, the turret should keep aiming from the odometry.

  high priorityReal robotabout 40 minAiming

  Needs: Turret, and Limelight 3A or Webcam, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• ILK-01Interlock rule - two parts are never in their zones at once

  An interlock rule (keepApart(...) in Robot.java) keeps two parts that share space from crashing, whoever moves them: a button, a stick, an action, a turret that follows the goal.

  high prioritySimulator or robotabout 40 minInterlock rules (two parts that must not collide)

  Needs: Lift or arm with an encoder or Turret

• PATH-02PathAt - start things along a path while it drives

  PathAt starts a part (an intake, a spin-up) at a place along a Pedro path while the robot keeps driving.

  high prioritySimulator or robotabout 40 minPaths (Pedro)

  Needs: Mecanum drive, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods), and Pedro Pathing in the project

• SHOT-05Battery compensation - 4 quick shots on a tired battery

  Battery compensation is off by default because it is not yet proven on a real robot.

  high priorityReal robotabout 40 minShooter and shot tables

  Needs: Flywheel shooter

• SIM-02Your own robot in the simulator, from Robot.java

  :sim:fromRobot writes a simulator robot file from your own Robot.java.

  high prioritySimulatorabout 40 minSimulator

  Needs: any robot

• SIM-04Record a test in the simulator, break it, update it

  The simulator's recorder writes a test from what a driver does on the page.

  high prioritySimulatorabout 40 minSimulator

  Needs: any robot

• TUR-01Turret home switch (touch or magnetic) - homes at START

  A turret's motor encoder counts from where it was at INIT.

  high prioritySimulator or robotabout 40 minTurret

  Needs: Turret, and Turret home switch (touch or magnetic)

• ODO-01Odometry Tuner - directions, offsets and the loop check

  Everything that uses the robot's place on the field (driveTo, Pedro paths, odometry aim, shooting on the move) depends on this tuner.

  high priorityReal robotabout 45 minOdometry

  Needs: goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• SIM-03Build an autonomous in the simulator with the auto builder

  The auto builder draws an autonomous on the field, runs it with your real robot code, shows where the robot left the plan, and writes the Java and a scenario file.

  high prioritySimulatorabout 45 minSimulator

  Needs: any robot

• DOC-01Quick start from a blank robot project

  The Quick start promises a driving robot in 30 minutes.

  high prioritySimulator or robotabout 60 minDocs and lessons

  Needs: Mecanum drive or Tank drive (2 or 4 motors)

• SHOT-03Shot Tuner - build a shot table with hits and misses

  The Shot Tuner builds the speed-for-each-distance table the way experienced teams do: 3-5 shots per speed, each marked HIT or MISS, and the best hit ratio wins.

  high priorityReal robotabout 60 minShooter and shot tables

  Needs: Flywheel shooter, and Limelight 3A or Webcam or goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• SOM-02Shooting on the move - strafe past the goal and score

  This is the real test: does aiming at the "virtual goal" make shots score while the robot drives? Only real shots can tell.

  high priorityReal robotabout 60 minShooting on the move

  Needs: Flywheel shooter, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• DRV-02Field-centric driving and resetting "forward"

  Field-centric driving (stick up = away from the driver, whichever way the robot faces) depends on the IMU or the odometry heading.

  medium priorityReal robotabout 15 minDriving

  Needs: Mecanum drive

• LGT-02The alliance on the light at INIT

  A wrong alliance pick in INIT makes the robot aim at the other alliance's goal all match.

  medium prioritySimulator or robotabout 15 minLights

  Needs: Light (goBILDA RGB or REV Blinkin)

• ODO-04TeleOp starts where autonomous ended

  The pose (where the robot is and which way it faces) should carry from autonomous into TeleOp, so field-centric driving and the odometry aim are right from the first second of TeleOp.

  medium prioritySimulator or robotabout 15 minOdometry

  Needs: goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• CTL-03Switch the alliance during TeleOp (turned on by you)

  If autonomous ran as the wrong alliance, the drivers can switch it in TeleOp, but only if the team turned it on.

  medium prioritySimulator or robotabout 20 minButtons and controls

  Needs: any robot

• HOOD-04Hood at START, and the stick with no goal in view

  At START the hood goes to its startAngle.

  medium prioritySimulator or robotabout 20 minHood

  Needs: Hood on a servo or Hood on a motor with an encoder

• PATH-01The Pedro example path in the simulator

  Lesson 8 says "try it in the simulator first".

  medium prioritySimulatorabout 20 minPaths (Pedro)

  Needs: any robot

• SET-03DEFAULT_FROM_CATALOG, MEASURE and a part not in the catalog

  A new robot's Tunables.java can name every setting from day one: DEFAULT_FROM_CATALOG for "use the library's default" and MEASURE for "a number to find on the robot".

  medium prioritySimulatorabout 20 minSetup and Hardware Check

  Needs: any robot

• CTL-02Move or free the library's buttons

  Every library button (slow, field-centric, pause, menus) can move to another button or be freed for your own job.

  medium prioritySimulator or robotabout 25 minButtons and controls

  Needs: any robot

• MEC-02A servo's full range - 300 degrees instead of 270

  The hub sends a servo a pulse from 600 to 2400 microseconds for positions 0 to 1.

  medium priorityReal robotabout 25 minLifts, arms, claws and servos

  Needs: any robot

• AUTO-01Choose the start spot in the INIT menu

  One autonomous can start from two spots: a Start line in the INIT menu picks the steps AND the start (start(...) inside an onlyIf).

  medium prioritySimulator or robotabout 30 minAutonomous and the INIT menu

  Needs: any robot

• ODO-03driveTo a field point - how close does it stop?

  driveTo drives straight to a field point while it turns.

  medium priorityReal robotabout 30 minOdometry

  Needs: Mecanum drive, and goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods)

• PATH-03Path Builder web page - draw a path, copy the code, run it

  The Pedro Path Builder (https://crossbotics.com/ftc-helper/path-builder/) draws the BIOBUZZ field, shows where the robot would hit things, and writes the PedroPath code.

  medium prioritySimulatorabout 30 minPaths (Pedro)

  Needs: any robot

• PCS-01Piece Tuner - can the sensor tell the pieces apart?

  A colour sensor (or a distance sensor) tells the robot which piece it holds: POLLEN or NECTAR, red or blue.

  medium priorityReal robotabout 30 minGame pieces and sensors

  Needs: Colour sensor for game pieces or Distance sensor for game pieces

• PCS-02Piece count and the next piece picks the shot table

  Pieces counts what comes in and what goes out, and says which piece fires next.

  medium prioritySimulator or robotabout 30 minGame pieces and sensors

  Needs: Intake, and Colour sensor for game pieces or Distance sensor for game pieces

• TUR-03Servo turret - two measured points and its start angle

  A turret on a standard servo has no encoder and no PID: the library turns an angle into a servo position from two measured points.

  medium priorityReal robotabout 30 minTurret

  Needs: Turret

• AIM-04Aim Tuner - find the camera offset from real shots

  A camera that is not exactly on the launcher's line makes every shot go a little to one side.

  medium priorityReal robotabout 40 minAiming

  Needs: Flywheel shooter, and Limelight 3A or Webcam

• HOOD-03Hood follows the shot table, and the hood trim

  With a hood, each table row has a third number: the hood.

  medium prioritySimulator or robotabout 40 minHood

  Needs: Flywheel shooter, and Hood on a servo or Hood on a motor with an encoder

• SOM-03Shooting on the move in the simulator - strafe and compare

  Before anyone tunes shooting on the move on a real robot (SOM-01, SOM-02), the simulator can show whether the lead goes the right way and how much it helps.

  medium prioritySimulatorabout 40 minShooting on the move

  Needs: any robot

• TEST-01Test kit - JUnit tests of your Robot.java on the laptop

  The test kit gives your robot in five files pretend motors and servos, so a JUnit test on the laptop can do INIT, START and a loop, and check what each motor was sent.

  medium prioritySimulatorabout 40 minLaptop tests (JUnit and the test kit)

  Needs: any robot

• DOC-04Lesson 10 from start to finish - record, break and update a test

  Lesson 10 teaches simulator tests with the new "Record a test" button.

  medium prioritySimulatorabout 45 minDocs and lessons

  Needs: any robot

• DOC-03Start from zero on a new laptop

  "Start from zero" installs Android Studio, gets the robot project and makes a first edit.

  medium prioritySimulatorabout 75 minDocs and lessons

  Needs: any robot

• DOC-02Follow one main-track lesson from start to end

  Each lesson builds on your own robot, a few lines at a time.

  medium prioritySimulator or robotabout 90 minDocs and lessons

  Needs: any robot

• LGT-01Lights - colour rules and a flash per shot

  A light lets the drivers see the robot's state without looking at the Driver Station.

  low prioritySimulator or robotabout 20 minLights

  Needs: Light (goBILDA RGB or REV Blinkin)

• TUR-04Slip-ring turret - round and round, always the short way

  A turret with a slip ring (a part that carries the wires through a turning joint) has no wire limits.

  low priorityReal robotabout 30 minTurret

  Needs: Turret

More

• Which tests have reports so far (the coverage table).
• Found a bug while testing? Bug report form.
• Want to add a test to this list? How to add a test.