A WPIMath-style control theory library for FTC robots, built on units for dimensioned measurements and linalg for matrix/vector math. It has the usual closed-loop building blocks: feedback controllers, feedforward models, signal filters, motion profiling, and typed 2D geometry for tracking robot pose and motion.

A Kotlin wrapper around EJML's SimpleMatrix for NextControl's linear algebra needs. There are two flavors: Matrix<R, C>/Vector<N>, which use Nat phantom types so dimension mismatches are caught at compile time, and DynamicMatrix/DynamicVector, which check dimensions at runtime for cases where the size isn't known ahead of time.

A type-safe units library for FTC robot code, modeled after WPILib's units library. Distances, times, masses, forces, torques, energy, power, current, voltage, temperature, and angles (plus their velocity and acceleration derivatives) are all represented as Measure values tied to Unit definitions, instead of raw doubles that leave you guessing what unit they're in.

NextFTC's hardware layer. It wraps the raw FTC SDK hardware classes — motors, servos, IMUs, distance/color/digital sensors, odometry computers, and vision sensors like Limelight and HuskyLens — in Kotlin classes that lazily resolve devices from the hardware map or Lynx modules on first use, instead of requiring manual hardwareMap.get(...) calls everywhere.