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Welcome. Synapse is a tiny pub/sub bus that gives FTC robot code a single dedicated hardware thread and typed topics for inter-module communication.

60-second tour

1. Add the dependency (see Install).
2. Extend SafeOpMode instead of OpMode.
3. Build Nodes — one concern each (drive, intake, shooter).
4. Use @SubscribedTo, @RunPeriodically, @RunnableAction to wire them up.
5. Anything that touches a DcMotorEx / Servo / IMU runs on the hardware thread — read Architecture to see how.

Get Started

• First OpMode A complete, copy-pasteable TeleOp that drives one motor from a gamepad stick.
• Get Started Install Synapse and write your first OpMode in under five minutes.
• Install Add Synapse to your FTC Gradle project — one dependency, no token.

Concepts

• Architecture The four thread workers, what runs where, and the hardware-thread rule.
• Concepts The building blocks — architecture, orchestrator, topics, nodes, subscriptions.
• Nodes Independent units of robot logic with annotated callbacks.
• Orchestrator The bus that owns topics, nodes, and the thread workers.
• Subscriptions Three ways to consume topic values — and when each fits.
• Topics Named, typed channels for inter-module communication.

Annotations

• @OnHardwareThread Re-route a subscriber onto the single dedicated hardware thread.
• Annotations The four annotations Synapse ships, and the rules each one enforces.
• @RunPeriodically Run a method on a fixed-rate loop.
• @RunnableAction Register a named, fire-on-demand method.
• @SubscribedTo Bind a method to a topic — invoked for every value published to it.

FTC Integration

• GamepadAdaptor Publishes every gamepad button and axis onto topics at 60 Hz.
• FTC Integration SafeOpMode, HardwareActions, SafeDevice, SafeHardwareMap, GamepadAdaptor.
• HardwareActions The facade over the hardware thread — run, call, callAsync, bulkRead.
• SafeDevice A typed wrapper that routes one device's calls through the hardware thread.
• SafeOpMode Drop-in OpMode base class that wires the orchestrator and enforces the hardware-thread rule.

Recipes

• Recipes Copy-paste solutions tested on a real robot.
• Mecanum drive Robot-centric mecanum with subsystem nodes, per-wheel telemetry, and a direction test — verified on a real robot.
• Two-controller teleop Driver + operator gamepads with per-gamepad topics — verified on a real robot.

Guides

• Guides Migrating existing OpModes, troubleshooting, and verifying on the robot.
• Migrating to Synapse Move an existing raw OpMode onto Synapse, subsystem by subsystem.
• Testing How Synapse is tested, and how to verify your OpMode on the bench and the field.
• Troubleshooting Every common Synapse failure with its cause and fix.

API Reference

• API Reference The complete public surface of Synapse v0.4.0.

For LLMs and agents

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