FTC Demo Robot Controller

This workspace is a full FTC SDK Android Studio project plus local helper scripts for working with the Control Hub.

Android Studio Tutorial

This tutorial assumes you switch Wi-Fi by hand. Do not use ftc-net-run for these steps.

1. Open And Build

Open this directory itself in Android Studio. Gradle should import two Android modules:

• FtcRobotController
• TeamCode

The local OpMode source is:

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DanceBotAuto.java

Build the Robot Controller APK from Android Studio with Build > Make Project, or from the Android Studio Terminal:

./gradlew :TeamCode:assembleDebug

The debug APK is written to:

TeamCode/build/outputs/apk/debug/TeamCode-debug.apk

2. Connect To The Control Hub

On macOS, manually join the Control Hub Wi-Fi:

SSID: FTC-L3OE
Password: password

Wait a few seconds, then confirm the Control Hub is reachable from the Android Studio Terminal:

ping -c 2 192.168.43.1

3. Deploy The Code

Deploy over Control Hub Wi-Fi ADB and start the Robot Controller app:

./deploy-ftc-apk

If Android Studio prompts for a deploy target, use the Control Hub device at 192.168.43.1:5555.

For the underlying ADB commands used for FTC deployment and debugging, see doc/ADB_TUTORIAL.md.

4. Launch DanceBot

Keep the Mac connected to FTC-L3OE, lift the robot or make sure it has room to move, then launch the autonomous OpMode from the Android Studio Terminal:

./run-ftc-opmode-robocol run-bounded 'DanceBot Auto' --duration 22 --allow-motion

For a one-motor-at-a-time diagnostic:

./run-ftc-opmode-robocol run-bounded 'DanceBot Motor Test' --duration 22 --allow-motion

To list the OpModes the Robot Controller sees:

./run-ftc-opmode-robocol list

Tail the OpMode logs in another Android Studio Terminal tab if needed:

./logcat-ftc

If the launcher times out and Logcat says Incompatible robocol versions, make sure the script is using the same FTC SDK generation as the installed Robot Controller app. This repo defaults to FTC SDK 11.1.0 / Robocol 124.

Launch Shortcut

After manually connecting to the Control Hub Wi-Fi, you can use the shorter launcher on macOS or Linux:

./launch-dancebot

On Windows, use the batch launcher from Command Prompt or PowerShell:

.\launch-dancebot.bat

The same launcher is available as Android Studio Gradle tasks:

./gradlew launchDanceBot
./gradlew launchDanceBotMotorTest
./gradlew listDanceBotOpModes

Use DANCEBOT_DURATION=10 ./launch-dancebot to change the bounded run duration on macOS or Linux. On Windows Command Prompt, run set DANCEBOT_DURATION=10 before the .bat command. In PowerShell, run $env:DANCEBOT_DURATION=10 first.

On Windows, the equivalent Gradle commands use gradlew.bat:

.\gradlew.bat launchDanceBot
.\gradlew.bat launchDanceBotMotorTest
.\gradlew.bat listDanceBotOpModes

When you are done, manually switch the Mac back to your normal Wi-Fi.

If the app deploys but the robot does not move, run DanceBot Motor Test first. It spins front_right, back_right, back_left, and front_left one at a time in both directions and logs under the DanceBotMotorTest tag. Lift the robot or remove the wheels before running this diagnostic.

This project is based on FTC SDK v11.1. The Driver Station app should be on the same FTC SDK major/minor release as the Robot Controller app you deploy.

For a simple explanation of what the demo does and the FTC concepts it uses, see doc/DANCEBOT_DEMO.md.

OnBot Java Mirror

The old OnBot Java source mirror is still present at:

onbot/DanceBotAuto.java

The source-deploy helper still uses that mirror:

./deploy-ftc-dance-opmode
./build-ftc-onbot

For local Android Studio builds, edit the TeamCode copy first. Keep the onbot mirror synchronized only if you still need the OnBot Java workflow.

FTC Control Hub Network Handoff

This workspace contains ftc-net-run, a local macOS helper for commands that must run while connected to the FTC Control Hub access point.

The helper:

1. Records the current Wi-Fi SSID.
2. Optionally disconnects VPN.
3. Connects to FTC-L3OE.
4. Waits for http://192.168.43.1:8080/.
5. Runs the command you provide.
6. Attempts to restore the previous Wi-Fi and reconnect VPN.

Basic Probe

./ftc-net-run -- curl -I http://192.168.43.1:8080/

If the FTC Wi-Fi password is not saved in Keychain:

FTC_WIFI_PASSWORD='your-password' ./ftc-net-run -- curl -I http://192.168.43.1:8080/

VPN Handling

For Cisco Secure Client, use:

CISCO_SECURE_CLIENT=1 ./ftc-net-run -- curl -I http://192.168.43.1:8080/

The helper will try to detect the currently connected Cisco VPN host before it disconnects. You can also pin a VPN host explicitly:

CISCO_SECURE_CLIENT=1 \
CISCO_VPN_HOST='your-vpn-host.example.com' \
./ftc-net-run -- curl -I http://192.168.43.1:8080/

If your VPN is managed by a macOS Network service:

VPN_SERVICE='Your VPN Name' ./ftc-net-run -- curl -I http://192.168.43.1:8080/

If your VPN needs custom commands:

VPN_DISCONNECT_CMD='your disconnect command' \
VPN_RECONNECT_CMD='your reconnect command' \
./ftc-net-run -- curl -I http://192.168.43.1:8080/

Run ./ftc-net-run --help for all supported environment variables.

Hardware Report

To collect a read-only hardware/configuration report from the robot and then restore Cisco VPN:

./start-ftc-report-handoff

If macOS redacts the current SSID from command-line tools, provide the Wi-Fi network to restore:

RESTORE_SSID='Your Wi-Fi' ./start-ftc-report-handoff

That launcher starts a detached background job. Codex may disconnect while the job switches networks. After VPN reconnects, the report should be available at:

reports/latest-ftc-report.md

Each run also writes a full raw collection directory:

reports/ftc-robot-YYYYMMDD-HHMMSS/

The collector performs GET requests against the Robot Controller console and, if ADB is available on 192.168.43.1:5555, pulls FTC configuration XML/JSON files from /sdcard/FIRST. It does not start OpModes or send movement commands.

Control Hub Config Workaround

If you do not have a Driver Station available, install-ftc-controlhub-config can install a minimal FTC hardware configuration over ADB. It assumes this Mac is already connected to the Control Hub Wi-Fi and does not actuate motors.

./install-ftc-controlhub-config

By default it creates and activates dancebot.xml with four DC motors named front_right, back_right, back_left, and front_left on the embedded Control Hub motor ports 0, 1, 2, and 3, plus an intake motor on Expansion Hub 2 motor port 0.

For the 312 rpm motors, the default XML tag is the generic FTC SDK motor type:

MOTOR_XML_TAG=Motor

If you want the closest built-in motor profile instead, use:

MOTOR_XML_TAG=NeveRest20Gearmotor ./install-ftc-controlhub-config

The script writes the XML file to /sdcard/FIRST, then uses Android run-as to update the Robot Controller app's active hardware configuration preference. If run-as is unavailable for the installed Robot Controller app, the XML can be pushed but the script cannot make it active automatically.