ValleyLib

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

• valleyLib-core: Platform-agnostic scheduler, command, and subsystem abstractions (pure Java — desktop-testable).
• valleyLib-ftc: FTC-specific integration: OpModes, input handling, motor wrappers, controllers, telemetry, and Pedro Pathing.

Documentation

Full documentation site: the docs/ folder is an MkDocs Material site covering every feature. Build it locally with:

pip install -r docs/requirements.txt
mkdocs serve

then open http://127.0.0.1:8000. (Read the Docs builds are configured via .readthedocs.yaml.)

Quick links into the source docs:

• Home / feature overview
• Installation
• Quickstart
• Command system: Commands · Decorators · Groups & Factories · Scheduler · Subsystems · AutoDsl
• FTC integration: CommandOpMode · Gamepads · Triggers · Hardware · PID & Feedforward · Telemetry · RobotContainer
• Pedro Pathing: Overview · PedroAutoDsl · Migration guide
• Guides: Custom commands · Simulation & testing · Samples
• Reference: API summary · Design notes

Installation (JitPack)

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 1.0.7)

Version	Usable?
1.0.0	No
1.0.1	No
1.0.2	Yes (deprecated)
1.0.3	No
1.0.4	No
1.0.5	No
1.0.6	Yes
1.0.7	Yes (recommended)

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, repeatedly, 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().
• Full button coverage including start(), back(), guide(), and stick clicks (l3()/r3()).
• Presets for forLogitechF310(gamepad) and forDualShockLike(gamepad).
• Configurable stick deadbands and response curves via withStickDeadband() and withStickExponent().
• WPILib-style Trigger bindings: onTrue, onFalse, onChange, whileTrue, whileFalse, toggleOnTrue, plus and/or/negate/debounce composition.
• Bindings auto-register with the polled TriggerManager — driver.a().onTrue(cmd) just works inside a CommandOpMode.

Subsystem Command Factories

Build requirement-carrying commands inline, WPILib-style — no command classes needed:

drive.setDefaultCommand(drive.run(() -> drive.tankDrive(driver.leftY(), driver.rightY())));
driver.a().whileTrue(intake.startEnd(intake::in, intake::stop));

runOnce, run, startEnd, and runEnd all require their subsystem, so the scheduler resolves conflicts correctly.

Hardware & Control

• FTCLib-style Motor, MotorEx, and MotorGroup wrappers with GoBILDA presets, a smart encoder (overflow-corrected velocity, acceleration estimation), and velocity/position control modes.
• A full controller stack: PIDFController, PIDController, PDController, PController, and WPILib's SimpleMotorFeedforward.

Autonomous DSLs

• AutoDsl: platform-agnostic builder with alias methods (add, doInstant, waitFor, ifElse) for easy migration from other command DSLs.
• PedroAutoDsl: path-first builder for Pedro Pathing autos.
• FollowPathCommand / PedroCommands / PedroSubsystem: full command-based Pedro Pathing integration — no state machines, no manual follower.update().

Telemetry & Logging

• FtcTelemetryBus: one put(...) mirrors data to the Driver Station and the Panels dashboard; supports clear() for discarding stale queued data.
• FtcCommandLogger: optional listener that logs command lifecycle events (scheduled, finished, canceled) — enable with one override in CommandOpMode.

Desktop Simulation & Testing

valleyLib-core has no Android dependencies: unit-test your commands and autos on your laptop, with simulationPeriodic() hooks and a scheduler simulation mode for physics models.

Sample Starters

See valleyLib-ftc/src/main/java/com/vcs/valleylib/ftc/samples for copy-ready templates:

• SampleTeleOp + SimpleRobot: a complete TeleOp with a RobotContainer, default drive command, and button bindings.
• SampleDriveHardware / SampleIntakeHardware: subsystem templates.
• SampleAutos: simpleTaxi(...) and taxiAndCycle(...) Pedro autonomous factories.
• PedroMigrationSample: line-by-line migration from a traditional Pedro state machine.

Building from source

./gradlew :valleyLib-core:test :valleyLib-ftc:assembleRelease