A collection of BunyipsOpMode debug features intended for use in a testing environment, including a controller-based kill switch, robot pickup detection, and customisable auto-halt conditions.

DualTelemetry

class DualTelemetry @JvmOverloads constructor(opMode: OpMode, movingAverageTimer: MovingAverageTimer? = null, overheadTag: String? = null, infoString: String? = null) : Telemetry

Telemetry implementation for BunyipsLib, integrating FtcDashboard and Driver Station calls in one object, while providing additional features useful for debugging and telemetry management. This is used internally by BunyipsOpMode to be accessible by the overridden telemetry field.

EmergencyStop

open class EmergencyStop : RuntimeException

Custom exception to be thrown when BunyipsLib should end the OpMode following a critical error.

Encoder

open class Encoder

Represents a motor or external encoder that takes in suppliers of position and velocity to calculate encoder ticks.

EncoderTicks

object EncoderTicks

Utility class for converting between SI units and encoder ticks.

Exceptions

object Exceptions

OpMode "userspace" util to prevent user-code unhandled exceptions from crashing the app.

MovingAverageTimer

open class MovingAverageTimer

Time utilities for robot operation.

Ramping

interface Ramping

A collection of ramping functions and values for smoothing out deltas over time.

Reference

open class Reference<V> : Supplier<T> , Consumer<T>

Represents an object reference that may be reassigned.

RobotConfig

abstract class RobotConfig

Abstract class to use as parent to the class you will define to mirror a "saved configuration" on the Robot Controller, and to define any robot related constants or subsystems. Supported for use in both BunyipsOpModes and any other normal SDK OpMode. This paradigm is known as RobotHardware.

Scheduler

class Scheduler : BunyipsComponent

Scheduler and command plexus for use with the BunyipsLib task system in TeleOp.

UserSelection

class UserSelection<T : Any>(callback: Consumer<T?>, opmodes: T) : BunyipsComponent, Runnable

Async thread to ask for user input from a controller in order to determine a pre-determined set of instructions before a BunyipsOpMode starts (dynamic_init).