Basic Usage & Project Structure

CoreControl encourages a modular and organized project structure. This guide will show you how to set up your project and start using the library effectively.

Project Structure

We recommend organizing your code by feature or subsystem. A common structure for an FTC robot project using CoreControl looks like this:

TeamCode/
├── src/main/java/org/firstinspires/ftc/teamcode/
│   ├── modules/              # Contains all your robot modules
│   │   ├── Drivetrain.java   # Drivetrain module
│   │   ├── Intake.java       # Intake module
│   │   ├── Lift.java         # Lift module
│   │   └── Robot.java        # Main Robot module (optional, for grouping)
│   ├── commands/             # Contains custom commands (optional)
│   │   ├── AutoDriveCommand.java
│   │   └── ScorePixelCommand.java
│   ├── opmodes/              # Contains your OpModes
│   │   ├── TeleOp.java       # Main TeleOp
│   │   └── AutoRed.java      # Autonomous OpMode
│   └── utils/                # Utility classes

This structure keeps your code clean and easy to navigate. Each module is self-contained in its own file within the modules package.

Creating Your First Module

Let’s create a simple Intake module.

Kotlin

package org.firstinspires.ftc.teamcode.modules

import com.andreidurlea.corecontrol.modulesFeature.Module
import com.qualcomm.robotcore.hardware.DcMotor

object Intake : Module() {
    private lateinit var motor: DcMotor

    override fun onInit() {
        // hardwareMapEverywhere is globally available!
        motor = hardwareMapEverywhere.get(DcMotor::class.java, "intake")
    }

    fun setPower(power: Double) {
        motor.power = power
    }
}

Java

package org.firstinspires.ftc.teamcode.modules;

import com.andreidurlea.corecontrol.modulesFeature.Module;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.andreidurlea.corecontrol.miscellaneous.GlobalObjects;

public class Intake extends Module {
    public static final Intake INSTANCE = new Intake();
    private DcMotor motor;

    @Override
    public void onInit() {
        // hardwareMapEverywhere is globally available!
        motor = GlobalObjects.hardwareMapEverywhere.get(DcMotor.class, "intake");
    }

    public void setPower(double power) {
        motor.setPower(power);
    }
}

Using Modules in an OpMode

Now, let’s use this module in a TeleOp OpMode.

Kotlin

package org.firstinspires.ftc.teamcode.opmodes

import com.andreidurlea.corecontrol.opModesFeature.CoreTeleOp
import org.firstinspires.ftc.teamcode.modules.Intake

@TeleOp(name = "My TeleOp")
class MyTeleOp : CoreTeleOp(Intake) { // Register the module here!

    override fun onMainLoop() {
        if (gamepad1.a) {
            Intake.setPower(1.0)
        } else {
            Intake.setPower(0.0)
        }
    }
}

Java

package org.firstinspires.ftc.teamcode.opmodes;

import com.andreidurlea.corecontrol.opModesFeature.CoreTeleOp;
import org.firstinspires.ftc.teamcode.modules.Intake;

@TeleOp(name = "My TeleOp")
public class MyTeleOp extends CoreTeleOp {

    public MyTeleOp() {
        super(Intake.INSTANCE); // Register the module here!
    }

    @Override
    public void onMainLoop() {
        if (gamepad1.a) {
            Intake.INSTANCE.setPower(1.0);
        } else {
            Intake.INSTANCE.setPower(0.0);
        }
    }
}

By registering Intake in the CoreTeleOp constructor, its onInit method is automatically called when you press INIT on the Driver Station. You don’t need to manually initialize it!