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Gamepad Wrapper
A lightweight Java utility class that wraps the standard FTC SDK Gamepad instance to simplify driver inputs, eliminate repetitive state-tracking code, and prevent common input bugs during TeleOp. Core Enhancements Edge Detection: Provides direct helper methods like wasJustPressed(), wasJustReleased(), and toggle logic without requiring manual "previous state" variable tracking in your loop. Input Conditioning: Built-in deadzone filtering and customizable joystick response curves (e.g., exponential/cubic scaling) to grant drivers fine-grained movement precision. Press & Hold Logic: Supports button debouncing and hold-duration tracking natively, making it easy to map different actions to a single button (e.g., short tap vs. long press). Cleaner OpMode Logic: Encapsulates boilerplate code into readable, single-line method calls to keep main control loops clean and easy to maintain.
Run to Position Axon
A custom software wrapper that combines an Axon continuous-rotation servo with its built-in 12-bit analog absolute encoder (4th wire signal) to provide closed-loop position control—giving the servo DC-motor-like RUN_TO_POSITION functionality. Core Features Closed-Loop Position Control: Implements a custom feedback loop (such as PID or Proportional control) to dynamically drive the servo to exact target angles with high precision and holding power. Multi-Turn Rollover Tracking: Computes analog voltage rollovers (0V↔3.3V jumps) to accurately track continuous rotation past 360∘, treating servo movement like motor encoder ticks. Target & Power Management: Allows live power scaling and target position updates, preventing sudden current spikes or mechanical binding when holding positions under heavy loads. Seamless OpMode Integration: Replaces manual PWM calculation with straightforward, motor-style method calls (e.g., setTargetPosition() and setPower()) inside main control loops.
Grabber
The grabber arm comes in two versions: one with a standard plastic servo horn and the other with the B25T Servo Arm from Axon for added durability. The CAD design is available with or without an integrated button. The button version includes custom PCB files for it, and through extensive testing, we’ve found it reliable for automatic specimen/sample pick-up code. GOBILDA PARTS LIST: 3x 1203 Series Block Mount 3x 1611 Series Flanged Ball Bearing (6mm ID x 14mm OD, 5mm Thickness) 4x 2802 Series Button Head Screw - 30mm ADDITIONAL PARTS FOR BUTTON VERSION: 1x JST PH S2B-PH-K 1x02 P2.00mm Button 1x 12mm push button The render on left is not updated, it does not have the mounts on the back, which the files do have