Open Source

Run to Position Axon

This is a Java class designed to combine an Axon Servo with its built in Analog Encoder, enabling precise run-to-position functionality similar to the built in functionality for DC motors. Key Features:

• ✅ Supports position tracking using an encoder.
• ✅ Calculates rollover to allow for >360° rotation.
• ✅ Implements a proportional control loop for accurate movement.
• ✅ Allows direction control and power adjustment.
Tracks total rotation and target rotation for precise servo positioning. Includes a logging function for easy telemetry.

FTC Gamepad Wrapper

GamepadPair is a Java utility class designed for FTC robotics programming, providing an useful interface for handling multiple gamepads with features like: ✅ Button State Management – Detects button presses, holds, and releases with debounce filtering. ✅ Joystick & Trigger Support – Reads precise values from both joysticks and triggers. ✅ Debounce Handling – Customizable debounce times to prevent accidental double presses. ✅ LED Control – Changes LED colors on supported gamepads. ✅ Rumble Feedback – Supports short and long rumbles with custom effects.

AutoCorrection code for fll teams

PID Drive Logic is a specialized control algorithm for SPIKE Prime robots, providing high-precision navigation and path correction through the following features: ✅ Real-Time Path Correction – Utilizes Proportional (Kp​) control to eliminate drift and maintain perfectly straight lines. ✅ Precision Rotation – Implements dynamic deceleration as the robot approaches target headings to prevent overshooting. ✅ Linear Accuracy – Uses refined motor encoders to drive and turn in exact inches or degrees for consistent mission mapping. ✅ Environmental Consistency – Maintains uniform performance regardless of battery voltage fluctuations or mat friction variations.