Bring the change now.

Installation Guide & Features

Add those lines to your TeamCode/build.gradle file, and then start using CoreControl in your code!

Register once

This will register CoreControl as a dependency.

TeamCode/build.gradle

apply from: '../build.common.gradle'
apply from: '../build.dependencies.gradle'
android {
    namespace = 'org.firstinspires.ftc.teamcode'
    packagingOptions {
        jniLibs.useLegacyPackaging true
    }
}
repositories {
    maven {
        url "https://remote.corecontrollib.com"
    }
}
dependencies {
    implementation project(':FtcRobotController')
    implementation 'com.andreidurlea:corecontrol:1.1.0.1'
}

Complex logic, made simple

Not just commands. Reusable pieces of code with nesting, virtual multi-threading and looptime budgeting support.

SequentialCommandGroup collectAndLoad
    = sequentially(
        Spindexer.INSTANCE.reset,
        wait(500),
        racing(
            Intake.INSTANCE.absorb,
            waitUntil(() -> Intake.INSTANCE.isFull())
        ),
        Spindexer.INSTANCE.loadToOuttake
    );
SequentialCommandGroup shootAndReload
    = sequentially(
        Outtake.INSTANCE.shoot,
        Spindexer.INSTANCE.loadToOuttake
    );

Autonomous made easy

Write your autonomous routines as commands, and run them with just a single line of code.

package org.firstinspires.ftc.teamcode;
import ...
public class RedAuto extends CoreAuto {
    public MyOpMode() {
        super(
            // Step 1: Register auto modules
            modulesArrayOf(
                Intake.INSTANCE,
                Chassis.INSTANCE,
                Spindexer.INSTANCE,
                Outtake.INSTANCE
            ),
            // Step 2: Pass a command to run at init
            initCommand,
            // Step 3: And another to run when played
            redAutoCommand,
        );
    }
    // Done! You have your auto!
}

Use everywhere

You can start using CoreControl in your OpModes by extending CoreTeleOp, in which you can register modules and commands.

MyOpMode.java

package org.firstinspires.ftc.teamcode;
import ...
public class MyOpMode extends CoreTeleOp {
    public MyOpMode() {
        super(
            // Register your own modules!
            Intake.INSTANCE,
            Chassis.INSTANCE,
            Spindexer.INSTANCE,
            Outtake.INSTANCE,
            true // display automatic telemetry
                 // about them!
        );
    }

    // Smart buttons!
    Button collect
        = new Button( () -> gamepad1.square );
    Button shoot
        = new Button( () -> gamepad1.circle );

    // Modules are already initialized automatically!
    @Override public void onInit() {
        Outtake.INSTANCE.goToHome.register();
    }

    // Modules' loop logic is run automatically!
    @Override public void onMainLoop() {
        if (collect.wasPressed() && shoot.isNotHeld())
            collectAndLoad.register();

        if (shoot.wasPressed())
            if (shoot.wasDoublePressed())
                shootAndReload.repeat(3).register();
            else
                shootAndReload.register();
    }
}

Unit-testing trivialized

Write unit tests for your modules with minimal boilerplate. Bind commands to buttons, and get a fully functional test OpMode in 30 seconds and 10 or so lines of code.

package org.firstinspires.ftc.teamcode;
import ...
public class IntakeTest extends TestOpMode {
    public MyOpMode() {
        super(Intake.INSTANCE);
        // Just one module to get unit-tested!
    }
    ActionButton testAbsorb
        = new ActionButton(
            () -> gamepad1.cross,
            Intake.INSTANCE.absorb,
            ButtonState.WHEN_PRESSED
        );
    ActionButton testEject
        = new ActionButton(
            () -> gamepad1.circle,
            Intake.INSTANCE.eject,
            ButtonState.WHEN_PRESSED
        );
    // Those buttons automatically register
    // commands when pressed!
}

From zero to working in less than an hour.

Skip the boilerplate. With CoreControl, you can code a fully functional robot from scratch in record time.

Check out the Docs