SciLib

SciLib is a library by FRC team 1155 intended for use with WPILibJ. It is designed to standardize and simplify some tedious aspects of writing robot code.

It is currently under development.

Project Scope

italicized features may not be added

General

• General motor builders
• Stream api
• Vision wrappers

Kotlin specific

• Units
• Coroutines in command based

Motor Config Example

// Constants.kt
object Ports {
    const val flywheelLeft = 20
    const val flywheelRight = 21
}

object Motors {
    val shooter = MotorConfig(currentLimit = 20)
}

// Shooter.kt
class Shooter : SubsystemBase() {

    val lead = Motors.shooter.buildCanSparkMax(Ports.flywheelLeft, MotorType.kBrushless)
    val follow = Motors.shooter.buildCanSparkMax(Ports.flywheelRight, MotorType.kBrushless)
        // ...
    init {
        follow.follow(lead, true)
    }
        // ...
}