Installation

Requirements

• An omnidirectional drivetrain (mecanum or X-drive). NeuronDrive's mecanum math assumes four independently-driven wheels named frontLeft, frontRight, backLeft, backRight in your robot configuration (or pass your own names to the NeuronDrive constructor).
• A goBILDA Pinpoint odometry computer, wired per goBILDA's instructions, named pinpoint in your robot configuration (or pass your own device name to NeuronLocalizer).
• Android Studio (Ladybug 2024.2 or later). Neuron Pathing is a plain Java library, so it does not work from Blocks or OnBot Java.

The Pinpoint driver ships inside the stock FTC SDK itself, so this quickstart needs no extra Gradle dependencies beyond what FtcRobotController already provides.

Get the code

Clone this repo (or download it as a zip from GitHub) and open the folder in Android Studio as an existing project ("Open").

git clone <this-repo-url>

Build once (Build > Make Project) before doing anything else, to confirm Android Studio, the SDK, and Gradle are all happy on a clean checkout.

Where everything lives

TeamCode/.../neuronpathing/   the library: Pose2D, Spline, NeuronLocalizer, NeuronDrive, ...
TeamCode/.../opmodes/         example OpModes built on the library
tools/neuron-path-planner.html   the visual path planner (open it directly in a browser)
docs/                         this documentation

Wire up your robot

1. In the Driver Station / Driver Hub, create a robot configuration with:
2. Four DcMotorEx entries named frontLeft, frontRight, backLeft, backRight (or your own names; see below).
3. A goBILDA Pinpoint entry named pinpoint (I2C).
4. Measure your Pinpoint's offset from the robot's center of rotation, in millimeters (X = forward/back offset, Y = left/right offset; see goBILDA's docs for sign conventions). You'll need these numbers next.
5. In your OpMode, construct the library:

java NeuronLocalizer localizer = new NeuronLocalizer(hardwareMap, telemetry, /*xOffsetMm=*/ -78.74, /*yOffsetMm=*/ -184.15); NeuronDrive drive = new NeuronDrive(hardwareMap, localizer, /*trackWidthIn=*/ 14);

trackWidthIn is the distance between your left and right wheel contact points, in inches; measure your actual robot, don't guess.

If your hardware config uses different motor names than the default four, use the longer constructor instead:

java NeuronDrive drive = new NeuronDrive(hardwareMap, localizer, trackWidthIn, "myFrontLeft", "myFrontRight", "myBackLeft", "myBackRight");

1. Before trusting any pose data, calibrate once (blocks briefly, ~1s):

java localizer.setPosition(new Pose2D(0, 0, 0)); // wherever your robot actually starts localizer.calibrate(true);

1. Call drive.update() every loop. That's it: drive.pose now tracks the robot's field position, and drive.goToPoint() / drive.splineToPoint() will drive there.

None of this will behave correctly yet on a fresh robot: the offsets, motor directions, and PID gains above are all starting points. Follow Tuning next before trusting any of it in a match.