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Practical FTC Base - a simple and versatile code abstraction for FIRST Tech Challenge.

Credits: This code integrates elements from Roadrunner and FTCLib.

The main meat of this code is the base hardware classes, which trivialize the creation of robust control systems for your robot. It is similar to how in WPILib, you are able to make a Mecanum or Differential drive object, and pass motors to it to simplify your code instead of creating the whole drive train manually- I take a similar approach here, but taking it to the next level by abstracting ALL hardware, including arms, elevators, sensors, and cameras.

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Because of the barriers of entry to using something like Roadrunner, this code also includes a simple, but very capable drive controller titled DriveBot, which is a robot-relative X, Y, and heading PID drive controller with timeout and cancel conditions. With proper tuning, this can be much easier to rapidly iterate and can be nearly as precise as Roadrunner, but much simpler as it does not require an understanding of spline pathing, coordinate systems, drive profiling, or actions.