ftclib

FTCLib

FTCLib is a comprehensive Java library for FTC robotics providing a command-based framework, enhanced gamepad input, Pure Pursuit path following, and vision pipelines. It brings FRC-style architecture to FTC development.

Maintenance Warning

FTCLib is no longer actively maintained. While many teams still use it due to legacy codebases, be aware that:

• There are known bugs that will not be fixed
• New features and improvements are not being developed
• Compatibility with future FTC SDK versions is not guaranteed

Recommendation: If you're starting a new project or able to migrate, consider using NextFTC instead, which is actively maintained and offers similar command-based functionality.

Encountering issues? Check the FTCLib GitHub Issues to see if your problem is a known bug before spending time debugging.

Quick Start

Dependencies

In build.gradle (TeamCode module):

dependencies {
    implementation 'org.ftclib.ftclib:core:2.1.1'
    implementation 'org.ftclib.ftclib:vision:2.1.0'  // Optional: vision pipelines
}

In build.common.gradle:

minSdkVersion 24  // Required (changed from 23)

Add to repositories if not present:

mavenCentral()

Key Imports

// Command-based
import com.arcrobotics.ftclib.command.CommandOpMode;
import com.arcrobotics.ftclib.command.CommandBase;
import com.arcrobotics.ftclib.command.SubsystemBase;
import com.arcrobotics.ftclib.command.InstantCommand;
import com.arcrobotics.ftclib.command.RunCommand;
import com.arcrobotics.ftclib.command.SequentialCommandGroup;
import com.arcrobotics.ftclib.command.ParallelCommandGroup;

// Gamepad
import com.arcrobotics.ftclib.gamepad.GamepadEx;
import com.arcrobotics.ftclib.gamepad.GamepadKeys;
import com.arcrobotics.ftclib.gamepad.ButtonReader;

// Hardware
import com.arcrobotics.ftclib.hardware.motors.Motor;
import com.arcrobotics.ftclib.hardware.motors.MotorEx;
import com.arcrobotics.ftclib.drivebase.MecanumDrive;

// Pure Pursuit
import com.arcrobotics.ftclib.purepursuit.Path;
import com.arcrobotics.ftclib.purepursuit.waypoints.*;