Programming · Code Library
Reusable FTC code snippets
Drop-in helpers for drive, encoders, PID, and safety limits to speed up development.
What this is
- A starter set of reusable patterns for FTC robots.
- Focus on reliability and clarity over clever tricks.
- Snippets you can adapt to your drivetrain and mechanisms.
When you need it
- Bootstrapping a new codebase or training new members.
- Need tested helpers for encoders, PID, or safety clamps.
- Want consistent drive code across TeleOp and Auto.
How it works
- Reusable drive: functions to set tank/mecanum powers with normalization and deadzones.
- Encoder helpers: ticks↔distance conversions, reset-and-wait utilities, timeouts.
- PID snippets: simple P or PD loops for heading/distance; clamp outputs; optional integral cap.
- Safety limits: clip motor power, current soft limits on slides/arms, and timeouts around blocking moves.
Common mistakes
- Copying snippets without matching motor directions or ticks-per-rev.
- No output clamping → motors saturate and brown out.
- Reusing PID gains from another robot without retuning.
- Skipping timeouts around encoder moves.
How to test it
- Run drive helpers on blocks; verify wheel directions and normalization.
- Measure a known distance; confirm ticks↔inches math.
- Test PID on a simple turn; check overshoot/settle, adjust P/D.
- Trip safety limits deliberately (endstop); ensure power cuts or holds safely.
Related problems
- Oscillation in turns → lower P or add small D; check heading units.
- Slides stall → add current/position limits and timeouts.
- Inconsistent distance → recalibrate wheel diameter, gear ratio, and ticks-per-rev.