Android Studio project for an FTC mecanum-drive robot, built on the official FTC Robot Controller and the Road Runner quickstart. The project adds robot-specific autonomous paths, three-wheel odometry, launcher/intake controls, heading-based auto-alignment, AprilTag detection, and desktop MeepMeep simulations.
This repository is not a from-scratch robot controller. The FTC SDK, Road Runner quickstart drive classes, tuning utilities, and supporting infrastructure are upstream projects. The custom work in this repository is summarized below.
MeepMeep preview of a Road Runner autonomous route before deployment to the robot.
- Close- and far-start autonomous routines for both alliances using Road Runner actions
- A three-ring launcher sequence integrated into autonomous and TeleOp code
- Alliance-specific mecanum TeleOp driving with pose hold, adjustable launcher power, and a toggled intake
- Shared Road Runner pose storage between autonomous and TeleOp OpModes
- Three-dead-wheel odometry integration and robot-specific Road Runner tuning values
- Odometry-based heading alignment toward a fixed field target
- AprilTag ID 24 detection and Driver Station telemetry through an external webcam
- MeepMeep programs for previewing the red and blue autonomous paths on a desktop
The primary custom source files are:
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAutoClose.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueAutoFar.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAutoClose.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedAutoFar.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/MainBlue.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/MainRed.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/PoseStorage.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/Test.javaTeamCode/src/main/java/org/firstinspires/ftc/teamcode/Webcam_Test.java- Robot-specific changes in
MecanumDrive.javaandThreeDeadWheelLocalizer.java MeepMeepTesting/src/main/java/com/example/meepmeeptesting/BlueAutoClose.javaMeepMeepTesting/src/main/java/com/example/meepmeeptesting/RedAutoClose.java
See TeamCode/README.md for hardware names, controls, and OpMode details. See MeepMeepTesting/README.md for desktop path simulation.
| Path | Purpose | Ownership |
|---|---|---|
TeamCode/ |
Robot OpModes, drive configuration, and localization | Custom code plus adapted Road Runner quickstart files |
MeepMeepTesting/ |
Desktop autonomous-path visualization | Custom simulation code using MeepMeep |
FtcRobotController/ |
Android robot-controller application | FTC SDK/upstream |
doc/, libs/, Gradle files |
SDK documentation, libraries, and build support | Primarily FTC SDK/Road Runner infrastructure |
- Android Studio with its bundled JDK (the modules target Java 11 source compatibility)
- FTC-compatible Robot Controller hardware or Control Hub
- A matching Driver Station
- Internet access for the first Gradle dependency sync
Key versions currently declared by the project:
- FTC SDK
11.0.0 - Road Runner FTC
0.1.25 - Road Runner Core/Actions
1.0.1 - FTC Dashboard
0.5.1 - MeepMeep
0.1.7 - Gradle
8.13 - Android Gradle Plugin
8.13.1
This is an Android Studio/Gradle project. Do not open only TeamCode as a standalone Java project.
- Clone the repository.
- In Android Studio, choose Open and select the repository root (the folder containing
settings.gradle). - Allow Gradle to sync and download dependencies.
- Connect the Control Hub/Robot Controller device over USB or Wi-Fi.
- Select the
FtcRobotControllerrun configuration and deploy the app. - Configure the robot hardware using the exact names in TeamCode/README.md.
- On the Driver Station, select the desired OpMode and test safely with the robot raised before placing it on the field.
The MeepMeepTesting module is a regular desktop Java module. Run either simulation class's main() method directly from Android Studio; it is not installed on the robot.
FTC Dashboard velocity traces and PID configuration during Road Runner tuning.
The Road Runner constants and encoder geometry in this repository are specific to the robot on which they were tuned. Motor direction, hub orientation, encoder ports, wheel geometry, feedforward values, and controller gains may not work on another robot. Retune Road Runner before reusing this code on different hardware.
Webcam_Test uses odometry to calculate the heading to the fixed field coordinate (48, -72). Its AprilTag processor reports whether tag ID 24 is visible, but tag detections do not currently correct the robot pose or drive the aiming calculation.
This project is based on:
See LICENSE for this repository's license terms. Upstream components remain subject to their own licenses and attribution requirements.