Cyan-FTC

A lightweight motion-planning library for FIRST Tech Challenge teams.

Getting Started • Features • Installation • Usage Examples • FAQ • Contributing • License

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✨ Overview

Cyan-FTC is a community-driven project independent of any single FTC team.
Its mission is to make advanced autonomous movement approachable for rookie teams while still being powerful enough for veterans.

Using Cyan-FTC at the Greek FTC Championship?
Come say hi—I’d love to hear about your experience and help with any issues.

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💡 Features

Category	Highlights
Localization	Plug-and-play odometry (GyroTankOdometry, TankKinematics) or bring your own by implementing PositionProvider.
Path Following	Pure Pursuit with configurable look-ahead, distance tolerance, and PID gains.
Unit-Aware Math	Smart Distance, Vector, and Point classes—convert seamlessly between in, cm, m, ticks, etc.
Modularity First	Works with tank, 2-wheel, 3-wheel, and (soon™) mecanum drivetrains.
Rookie Friendly	Clean API, extensive Javadoc, and annotated examples.

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📦 Installation

Prerequisites

• Java Development Kit (JDK 8+ recommended)
• Android-compatible IDE (Android Studio, IntelliJ, VS Code, etc.)
• Official FTC SDK: github.com/FIRST-Tech-Challenge/FtcRobotController

Step-by-Step

1. Add JitPack to your root build.dependencies.gradle:

   repositories {
       // …other repositories…
       maven { url "https://jitpack.io" }
   }

2. Add Cyan-FTC to TeamCode/build.gradle:

   dependencies {
       implementation "com.github.bouyio:Cyan-FTC:1.2.3"
   }

3. Sync Gradle & build. Done! 🎉

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🏁 Getting Started

The quickest way to explore Cyan-FTC is via the disabledSamples package in the quickstart repository.
Below is a high-level tour—see 📚 Javadocs (link once published) for full details.

Localization

1. Create a measurement provider

   DoubleSupplier leftEnc  = leftEncoder::getCurrentPosition;
   DoubleSupplier rightEnc = rightEncoder::getCurrentPosition;
   DoubleSupplier heading  = imu::getAngle;            // degrees (CCW +)
   
   double ticksPerMeter = /* 2 π r / ticksPerRev */;
   var provider = new GyroTankOdometry.MeasurementProvider(
           leftEnc, rightEnc, heading, ticksPerMeter);

2. Initialize odometry

   SmartVector2 startPos = new SmartVector2(0, 0, DistanceUnit.METER);
   double startHeading  = 0;       // rad
   
   GyroTankOdometry odometry =
           new GyroTankOdometry(startPos, startHeading, provider);

3. Update (automatic or manual)

   odometry.update();   // call in your OpMode loop if manual

No IMU? Use TankKinematics

DoubleSupplier leftEnc  = leftEncoder::getCurrentPosition;
DoubleSupplier rightEnc = rightEncoder::getCurrentPosition;
double trackWidth       = 0.32;    // meters

var provider = new TankKinematics.MeasurementProvider(
        leftEnc, rightEnc, ticksPerMeter);

TankKinematics odometry =
        new TankKinematics(startPos, startHeading, trackWidth, provider);

Point Following

PathFollower follower = new PathFollower(odometry);    // default PID
Point goal = new Point(1.2, 0.8, DistanceUnit.METER);

follower.followPoint(goal);

double[] motor = follower.getCalculatedPowers();
leftMotor.setPower(motor[0] + motor[1]);
rightMotor.setPower(motor[0] - motor[1]);

Sequencing & Paths

• PointSequence for visiting waypoints in order.
• Path + purePursuitSetup() for smooth curves (Pure Pursuit).

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🔄 Changes in v1.2

• New copy and reverse methods for paths and point sequences.
• Fixed PathFollower bug leading to endless oscillation.
• Renamed GyroTankOdometry.GyroTankMeasurementProvider and TankKinematics.TankKinematicsMeasurementProvider to GyroTankOdometry.MeasurementProvider and TankKinematics.MeasurementProvider respectively.

🔄 Changes in v1.2.2

• Added reverse driving capabilities.
• Added system identification info.

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🗂 Usage Examples

Find example opModes in the disabledSamples package of the quickstart repository.

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❓ FAQ

Question	Answer
“When will mecanum be supported?”	Soon™
“Can I use XYZ drivetrain?”	Of course—implement PositionProvider.
“Is there documentation?”	Javadoc is generated each release. Detailed guides are WIP.
More Qs?	Open an issue or ping me on Discord.

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🤝 Contributing

Contributions are welcome! Please:

1. Fork & create a feature branch.
2. Follow the code-style guidelines (KTlint/Checkstyle config coming soon).
3. Make sure ./gradlew check passes.
4. Open a PR—fill in the template.

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📝 License

This project is MIT-licensed.
See LICENSE for details.

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📜 Acknowledgements

Path-following logic was inspired by Gluten Free’s excellent tutorials—watch them here.

Dedicated to Foivos, my rookie-year teammate who made autonomous fun.