ValleyLib

ValleyLib is a modern, command-based robotics library for FTC, heavily inspired by WPILib. It provides a clean separation between core command logic and FTC-specific hardware integration.

• valleyLib-core: Platform-agnostic scheduler, command, and subsystem abstractions.
• valleyLib-ftc: FTC-specific integration layers, input handling, and utilities.

JitPack Setup

To use ValleyLib in your project, add the JitPack repository to your settings.gradle or build.gradle:

repositories {
    maven { url 'https://jitpack.io' }
}

Then add the dependencies:

dependencies {
    implementation 'com.github.ValleyX:ValleyLib:core:Tag'
    implementation 'com.github.ValleyX:ValleyLib:ftc:Tag'
}

(Replace Tag with a release tag like 1.0.0)

Documentation

• Getting started guide
• Pedro migration guide
• Custom command guide
• FTC trigger binding guide
• Pedro command-based guide
• Advanced controls, logging, and simulation
• Codebase review and recommendations

Key Features

Fluent Command API

Compose complex robot behavior using functional decorators:

driveCommand
    .until(robot::atTarget)
    .andThen(intakeCommand.withTimeout(1.0))
    .finallyDo(() -> drive.stop());

Common decorators include withTimeout, until, onlyWhile, unless, beforeStarting, finallyDo, andThen, alongWith, raceWith, and deadlineWith.

Advanced Input Handling

CommandGamepad provides easy trigger binding with support for both Xbox and PlayStation naming conventions:

• Xbox: a(), b(), x(), y(), leftBumper(), rightBumper(), dpadUp(), etc.
• PlayStation: cross(), circle(), square(), triangle(), l1(), r1().
• Includes presets for forLogitechF310(gamepad) and forDualShockLike(gamepad).
• Configurable stick deadbands and custom shaping (exponents) via withStickDeadband() and withStickExponent().

Autonomous DSLs

ValleyLib provides powerful DSLs for building autonomous routines:

• AutoDsl: A platform-agnostic builder API with alias methods like add, doInstant, waitFor, and ifElse for easy migration from other command DSLs.
• PedroAutoDsl: Specifically for Pedro Pathing, integrating path follows with command execution.
• FollowPathCommand: A command wrapper for individual path execution.
• PedroSubsystem: A subsystem abstraction for Pedro pathing.

Telemetry & Logging

• FtcTelemetryBus: A centralized telemetry system that mirrors data to both the Driver Station and Panels dashboard.
• FtcCommandLogger: Optional listener that logs command lifecycle events (scheduled, finished, interrupted) to aid real-time debugging.

Sample Starters

ValleyLib includes several building blocks to help teams get started quickly:

• Sample Hardware: SampleDriveHardware and SampleIntakeHardware.
• Sample Autos: SampleAutos.simpleTaxi(drive, taxiPath) and SampleAutos.taxiAndCycle(drive, intake, taxiPath, cyclePath).
• RobotContainer: A template for centralizing robot subsystems and button bindings.

See valleyLib-ftc/src/main/java/com/vcs/valleylib/ftc/samples for copy-ready templates built around PedroAutoDsl and PedroCommands.