MarsCommonFtc

Shared Java modules for MARS Robotics Association FTC teams. This repo is consumed as a git submodule so that multiple robot projects can share the same control, math, and native code without duplication.

Modules

Module	Description
ControlLib	Motion profiling, filters, motor controllers, localization utilities, and simulation tools. Publishes a shadow JAR for use in Android projects. Depends on nested RuckigJava submodule.
ControlLab	Desktop application for testing and visualizing ControlLib algorithms.
WpiMath	Ported subset of WPILib's math library — geometry, kinematics, trajectory generation, and linear algebra.
RuckigJava	Git submodule: pure-Java port of Ruckig Community OTG (currently pinned to v0.17.3).

Quick start

Add MarsCommonFtc as a submodule in your robot project and init nested submodules:

git submodule add https://github.com/Mars-Robotics-Association/MarsCommonFtc.git MarsCommonFtc
cd MarsCommonFtc && git checkout v1.0.0
git submodule update --init --recursive
cd ..

Then add the module redirects to your settings.gradle:

include ':WpiMath'
project(':WpiMath').projectDir = file('MarsCommonFtc/WpiMath')

include ':ControlLib'
project(':ControlLib').projectDir = file('MarsCommonFtc/ControlLib')

include ':ControlLab'
project(':ControlLab').projectDir = file('MarsCommonFtc/ControlLab')

include ':RuckigJava'
project(':RuckigJava').projectDir = file('MarsCommonFtc/RuckigJava')

Your existing dependency declarations (e.g. implementation project(':ControlLib')) work without changes.

Standalone build

Clone with submodules:

git clone --recurse-submodules https://github.com/Mars-Robotics-Association/MarsCommonFtc.git
# or after a plain clone:
git submodule update --init --recursive

Then:

./gradlew :WpiMath:build :ControlLib:build :ControlLib:shadowJar
./gradlew :WpiMath:test :ControlLib:test :RuckigJava:test

Full setup guide

See docs/SETUP.md for detailed instructions on prerequisites, SourceTree setup, updating to new versions, and troubleshooting.