Utility class for the different button and analog controls on the gamepad. Used for adding additional abstraction to the current gamepad control system, used across BunyipsLib.

Dbg

object Dbg

Provides utility methods for debug logging.

DebugMode

open class DebugMode : BunyipsComponent, Runnable

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.

Direction

enum Direction : Enum<Direction>

Represents relative positions in 2D space. The origin of these vectors face the X axis, for continuity.

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 motor 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.

Filter

class Filter

A collection of data filters for smoothing out and fusing sensor data.

IMUEx

open class IMUEx : IMU, Runnable

Drop-in replacement for an Inertial Measurement Unit that provides WPIUnit data and the capabilities of automatic updates similar to (but not implementing) a subsystem multi-thread.

InterpolatedLookupTable

open class InterpolatedLookupTable

Performs spline interpolation given a set of control points.

LookupTable

open class LookupTable<T : Number?, R> : TreeMap<K, V>

A lookup table Utility from FTCLib Source

Motor

open class Motor : DcMotorImplEx

Drop-in replacement for a DcMotor that uses custom control algorithms to operate RUN_USING_ENCODER and RUN_TO_POSITION modes.

MovingAverageTimer

open class MovingAverageTimer

Time utilities for robot operation.

NullSafety

class NullSafety

Null safety utilities for robot components.

Ramping

interface Ramping

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

Reference

open class Reference<V>

Represents an object reference that may be reassigned.

RoadRunner

interface RoadRunner

RoadRunner utility interface for OpModes, providing simpler trajectory building processes.

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. Supported for use in both BunyipsOpModes and any other normal SDK OpMode.

Scheduler

open class Scheduler : BunyipsComponent

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

StartingConfiguration

object StartingConfiguration

Revamped implementation of StartingPositions which instead uses a builder and poses to determine where a robot may start against the alliance wall. This system is more dynamic compared to StartingPositions, which restricts the starting positions to only 4 options based on the CENTERSTAGE randomisation objective.

StartingPositions

enum StartingPositions : Enum<StartingPositions>

Legacy enum for determining where the robot is starting on the field. This can be used to determine which autonomous path to take.

Storage

class Storage

Global filesystem and volatile storage utilities for robot operation.

Tasks

class Tasks

Utility class for running Task instances from an environment that does not have a task scheduler.

Text

class Text

Text and string manipulation utilities.

Threads

class Threads

Async utilities for running user code on different threads while having control/logging over them.

TriConsumer

@FunctionalInterface

interface TriConsumer<T1, T2, T3>

Represents an operation that accepts three input arguments and returns no result.

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).

Voltage

class Voltage

Utility class for getting the robot voltage from the HardwareMap.

While

open class While

Perform non-blocking loops using an evaluator callback to run the loop.