Utilities Everywhere

CoreControl provides a collection of utility classes and functions designed to simplify common FTC programming tasks. This includes global access to SDK objects like Telemetry and HardwareMap, as well as mathematical helpers and debugging tools.

Global Objects

CoreControl automatically injects common SDK objects into global variables when an OpMode starts. This allows you to access them from anywhere in your code—inside Modules, Commands, or utility classes—without passing them around as parameters.

HardwareMap

Use hardwareMapEverywhere to initialize your hardware in your modules without passing the hardwareMap object around.

Kotlin

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

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

Java

public class Intake extends Module {
    private DcMotor motor;

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

Telemetry

Use telemetryEverywhere to send data to the Driver Station from anywhere in your code.

Kotlin

fun someFunction() {
    telemetryEverywhere.addData("Status", "Running")
    // Note: You generally don't need to call update() manually,
    // as the OpMode handles it.
}

Java

public void someFunction() {
    GlobalObjects.telemetryEverywhere.addData("Status", "Running");
}

Time

Access the current time (since the start of the OpMode) globally.

Kotlin

val currentTime = nowMs // Time in milliseconds
val currentTimeSeconds = nowS // Time in seconds

Java

double currentTime = GlobalObjects.getNowMs();
double currentTimeSeconds = GlobalObjects.getNowS();

Helper Utilities

CoreControl also provides some utility functions and classes to assist with common tasks.

Low Pass Filter

A simple implementation of a low-pass filter for smoothing sensor data. This is useful for reducing noise in sensor readings.

Kotlin

val filter = LowPassFilter(alpha = 0.5) // 0.0 to 1.0 (higher is smoother but more lag)
val smoothedValue = filter.filterValue(sensorInput)

Java

LowPassFilter filter = new LowPassFilter(0.5);
double smoothedValue = filter.filterValue(sensorInput);

Global Sleep

A wrapper around Thread.sleep that also logs a message to telemetry. This is useful for debugging or simple delays where blocking the thread is acceptable (e.g., during initialization).

Kotlin

globalSleep(1000, "Waiting for sensor initialization")

Java

Utilities.globalSleep(1000, "Waiting for sensor initialization");