MechDancer Lib

mechdancerlib is a FTC robot library written by Kotlin. It provides structurize device tree of the robot, including the encapsulation and dispatching, which make program easier to use.

Chinese introduction

由 Kotlin 语言编写的 FTC 机器人程序库。

对于 FTC 比赛而言，FIRST 官方提供的库虽然易用（脱离了嵌入式开发范畴），但有些过于简单。在比赛程序的编写上，往往不能优雅的解决一些常用的需求。为了解决该问题，我们换了一种思路，重新定义了从单个设备到机器人整体。我们尽力保证库的独立性，使其不仅应用于 FTC 赛事机器人程序编写。不过为了在 FTC 程序编写中本库拆封即用，我们依赖了 RobotCore 中 HardwareDevice 和 OpMode。

Getting started

Add to your project

Find latest version in releases or clone and build this project, you will get mechdancerlib.aar aar file and mechdancerlib-sources.jar sources jar in /main/build/libs, add them into libs folder in your ftc_app project. Afterwards, append:

implementation(name: 'mechdancerlib', ext: 'aar')

to build.release.gradle which lie in each module.

Enable class filter and op mode register

If you want to use op mode auto register and class filter, something you have to do further are that:

• Find code snippet in /FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/interal/FtcRobotControllerActivity:

	@Override
	protected void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);
        
		....
		
		ClassManagerFactory.registerFilters();
         // You should add following two lines ↓
		ClassManager.getInstance().registerFilter(MechDancerOpModeRegister.INSTANCE);
		ClassManager.getInstance().registerFilter(ClassFilterProvider.INSTANCE); 
		ClassManagerFactory.processAllClasses();
		cfgFileMgr = new RobotConfigFileManager(this);
		
        ....
	}

​ Then add ClassManager.getInstance().registerFilter(MechDancerOpModeRegister.INSTANCE); as above. ​

• Find code snippet in the FtcRobotControllerActivity mentioned above:

    protected OpModeRegister createOpModeRegister() {
        return new FtcOpModeRegister();
  }

​ Then replace it with:

    protected OpModeRegister createOpModeRegister() {
		return MechDancerOpModeRegister.INSTANCE::register;
	}

Documentation

For design documentation, please see here.
中文版本在这里。

Contribution

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