Shuttle

Shuttle is a lightweight concurrency library aimed to help control robots that introduces synchronous and structured control flow into robot mechanism control, as explained this blog post.

public void releaseAndCollapse() throws InterruptedException {
    try (var scope = HardwareTaskScope.open()) {
        scope.fork(arm::collapse);
        scope.fork(() -> slides.goToPosition(RETRACTED));

        scope.join();
    }
}

Shuttle is comprised of two main parts, split into separate gradle modules:

shuttle-core contains:

• An FTC-compatible backport of the Java 21 structured concurrency API. You will interact with this through the HardwareTaskScope class.
• An FTC-compatible backport of the Java 8 java.time API. You will interact with this through the Instant and Duration classes.

shuttle-hardware contains:

• Blocking abstractions for FTC motors. You will interact with these by extending the ServoControl and LinearMotorControl classes.

Examples for how Shuttle can be used are located in our Center Stage repository.

Installation

Shuttle can be added to the FTC SDK by adding the Kuriosity maven repository to TeamCode/build.gradle, and adding the following dependencies in the implementation section:

repositories {
    maven {
        url = "https://maven.kuriosityrobotics.com/releases/"
    }
}

dependencies {
    // other stuff

    implementation "com.kuriosityrobotics.shuttle:shuttle-core:1.1"
    implementation "com.kuriosityrobotics.shuttle:shuttle-hardware:1.0"
}

Optionally, the project can be updated to use newer features such as var declarations by changing the Android compileOptions to use Java 11 build.common.gradle in the project's root directory:

compileOptions {
    sourceCompatibility JavaVersion.VERSION_11
    targetCompatibility JavaVersion.VERSION_11
}

Documentation

coming soon