FTC Programming Libraries

FTC Libraries

While the FTC SDK provides everything needed to program a robot, many teams use additional libraries and tools to simplify development, improve code organization, and build more advanced autonomous routines. Below are some of the most popular options in the FTC community.

Motion Planning

Road Runner

Website: https://rr.brott.dev/docs/

Road Runner is one of the most widely used autonomous libraries in FTC. It provides trajectory generation, localization, motion profiling, and trajectory following, allowing robots to drive smooth, accurate paths across the field.

Road Runner is ideal for teams that want highly accurate autonomous routines and are willing to spend time tuning their robot.

Pedro Pathing

Website: https://pedropathing.com/

Pedro Pathing is a modern path-following library that has become increasingly popular in recent seasons. It uses Bézier curves to create smooth paths while keeping setup simple and beginner-friendly.

Many teams choose Pedro Pathing because it requires less tuning than traditional trajectory libraries while still providing excellent autonomous performance.

MeepMeep

Website: https://github.com/acmerobotics/MeepMeep

MeepMeep is a desktop simulator for visualizing Road Runner trajectories before running them on a physical robot. It allows teams to design and test autonomous paths quickly without deploying code.

Control Flow

FTCLib

Website: https://docs.ftclib.org/ftclib/command-base/command-system/

FTCLib is one of the most widely used robotics frameworks for FTC. Its command-based architecture, inspired by WPILib, helps teams organize robot actions into reusable commands and subsystems.

Note: FTCLib's documentation may not work, but the library remains available on GitHub. See Solverslib Docs.

Mercurial

Website: https://docs.dairy.foundation/Mercurial/overview

Mercurial is a command-based framework for FTC focused on simplifying robot code while providing a flexible system for commands, subsystems, and scheduling.

SolversLib

Website: https://docs.seattlesolvers.com/command-base/command-system

SolversLib is a successor to FTCLib developed by Seattle Solvers. It provides a command-based architecture along with utilities for building organized and reusable FTC code.

NextFTC

Website: https://nextftc.dev/nextftc/

NextFTC is a modern command-based framework for FTC. It provides commands, subsystems, components, and hardware utilities designed to make FTC code easier to organize and maintain.

Ivy

Website: https://pedropathing.com/docs/ivy

Ivy is a command-based framework developed by the Pedro Pathing team. It provides a simple way to structure robot actions using commands and subsystems while integrating closely with the Pedro Pathing ecosystem.

Dashboards

FTC Dashboard

Website: https://github.com/acmerobotics/ftc-dashboard

FTC Dashboard is one of the most useful development tools available. It provides live telemetry, graphing, variable tuning, camera streaming, and field visualization, making debugging significantly easier.

Nearly every advanced FTC team uses FTC Dashboard.

Libraries