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https://github.com/FRC5190/FalconLibrary
Feature-rich Kotlin JVM based robotics library, primarily for use in the FIRST Robotics Competition.
https://github.com/FRC5190/FalconLibrary
Last synced: about 1 month ago
JSON representation
Feature-rich Kotlin JVM based robotics library, primarily for use in the FIRST Robotics Competition.
- Host: GitHub
- URL: https://github.com/FRC5190/FalconLibrary
- Owner: FRC5190
- License: mpl-2.0
- Created: 2018-02-22T01:32:05.000Z (almost 7 years ago)
- Default Branch: main
- Last Pushed: 2023-06-03T02:51:05.000Z (over 1 year ago)
- Last Synced: 2024-02-13T04:39:06.623Z (10 months ago)
- Language: Kotlin
- Homepage:
- Size: 15.4 MB
- Stars: 24
- Watchers: 6
- Forks: 12
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-frc - FalconLibrary - A library for programming robots in Kotlin, made by Team 5190. (Repositories / Java/Kotlin)
README
# FalconLibrary
[](https://dev.azure.com/frc5190/Robot%20Code/_build/latest?definitionId=11&branchName=master)
## Overview
Feature-rich Kotlin JVM based robotics library, primarily for use in the FIRST Robotics Competition. FalconLibrary is the backend for all Team 5190 robots.
Note: Due to the usage of inline classes, the units code does NOT work in Java.
### `core`: Platform-agnostic mathematics and units code
* Typesafe units of measure
* Quick and easy conversions between all length, velocity, acceleration, electrical units.
* Support for Talon SRX native unit length and rotation models.
* Shape-safe matrix operations
* Detect matrix shape mismatches at runtime by attempting to mimic C++'s templates using Generics
* State-space modern control
### `wpi`: Code specific to the RoboRIO and FIRST Robotics Competition
* Built-in drive subsystem abstraction with support for arbitrary localization.
* Kotlin wrappers around the command based framework
### `vendorXXX`: RoboRIO vendor extensions
* Talon SRX and Spark MAX wrappers that utilize Kotlin properties to set configurations.
* Custom gyro `Rotation2d` sources.
## Using FalconLibrary in your project
Make sure you can retrieve dependencies from JitPack. Add this to your `build.gradle`:
```groovy
repositories {
maven { url 'https://jitpack.io' }
}
```
Under the `dependencies` section of your `build.gradle`, add the specific submodules that you want in your project. All of the submodules are presented below.
```groovy
compile 'org.ghrobotics.FalconLibrary:core:2020.2.2'
compile 'org.ghrobotics.FalconLibrary:wpi:2020.2.2'
compile 'org.ghrobotics.FalconLibrary:vendorCTRE:2020.2.2'
compile 'org.ghrobotics.FalconLibrary:vendorNAVX:2020.2.2'
compile 'org.ghrobotics.FalconLibrary:vendorREV:2020.2.2'
```
Alternatively, you can include all submodules at once:
```groovy
compile 'org.ghrobotics:FalconLibrary:2020.2.2'
```
Note that you must include the `vendordeps` JSON file in your own robot project to correctly use the `vendorXXX` modules.
## Contributing
You are always welcome to submit a PR if you think that you can contribute something to this library. Remember that this is a FRC-game-agnostic library, so please don't ask for season-specific code to be merged.