Integration

Requirements

Since Pond does not take a dependency on FTC SDK types and versions, these are required steps for teams looking to leverage all the functionality in the library.

Wacth Out!: You can skip this page if you are using the quick-start setup method as the integration requirements are already taken care for you.

Initialization

You need to initialize the Command Scheduler and the robot Subsystem Hub for making full use of the Pond functionality:

public class MyOperation extends LinearOpMode {

    // Declare and initialize the member variables
    private final ITelemetryLogger logger = new TelemetryLogger(telemetry);
    private final SubsystemHub robotSubsystems = new SubsystemHub(logger);
    private final CommandScheduler commandScheduler = new CommandScheduler(logger);


    // Invoke the period methods on every iteration of the robot loop
    @Override
    public void runOpMode() throws InterruptedException {

        while (!isStopRequested()) {
            this.robotSubsystems.periodic();
            this.commandScheduler.periodic();

            this.logger.flush(false);

            // Allow other threads to process
            idle();
        }
    }
}

Implement ITelemetryLogger

Pond makes use of different logging and telemetry capabilities to better help you understanding your robot code:

• Driving Hub Telemetry: displays data on the driving hub.
• Logs: logs detailed information which can be seen in Adroid Studio LogCat
• Graphs: graphing of data such as PID parameters or autonomous movements

In order to enable these, Pond needs to be fed an implementation of ITelemetryLogger class. Here is a minimal implementation:

/**
 * Copyright (c) 2025 Automaducks - FTC 23206
 * All rights reserved.
 */
package org.firstinspires.ftc.samplecode.integration;

import com.automaducks.pond.utility.ITelemetryLogger;
import com.automaducks.pond.utility.TelemetryLoggerBase;
import com.qualcomm.robotcore.util.RobotLog;

import org.firstinspires.ftc.robotcore.external.Telemetry;

/**
 * Multi target logger: logs to DriverHub, LogCat and FTC Dashboard Graphs.
 */
public class TelemetryLogger extends TelemetryLoggerBase implements ITelemetryLogger {

    private final Telemetry telemetry;

    /**
     * Constructs a new telemetry logger.
     * @param telemetry the FTC SDK Telemetry reference.
     */
    public TelemetryLogger(Telemetry telemetry) {

        this.telemetry = telemetry;
    }

    /**
     * Displays data on the driving hub.
     */
    @Override
    protected void displayDataInternal(String key, Object value) {
        telemetry.addData(key, value);
    }

    /**
     * Graphs data on the FTC dashboard (leave it blank if you are not using a dashboard.
     */
    @Override
    protected void graphDataInternal(String key, Object value) {
        // Optional: add FTC dashboard
    }

    /**
     * Logs debug text to Logcat.
     */
    @Override
    protected void logDebugInternal(String tag, String format, Object... args) {
        RobotLog.dd(tag, format, args);
    }

    /**
     * Logs information text to Logcat.
     */
    @Override
    protected void logInformationInternal(String tag, String format, Object... args) {
        RobotLog.ii(tag, format, args);
    }

    /**
     * Logs error text to Logcat.
     */
    @Override
    protected void logExceptionInternal(String tag, Exception e, String format, Object... args) {
        RobotLog.ee(tag, e, format, args);
    }

    /**
     * Writes all the data to the intended destinations.
     */
    @Override
    protected void flushInternal() {
        // Send telemetry values
        this.telemetry.update();
    }
}

Advance Usage

See Pond Quick-Start Team Code for a more advanced example.