Example Code and Configuration

Configuration

Before getting started with programming we needed to create a configuration file. Below is an overview of how the robot is configured for the teleop code to function as expected:

Port Type	Port Number	Device Type	Name
Motor	0	REV Robotics Ultraplanetary HD Hex Motor	frontLeft
Motor	1	REV Robotics Ultraplanetary HD Hex Motor	frontRight
Motor	2	REV Robotics Ultraplanetary HD Hex Motor	backLeft
Motor	3	REV Robotics Ultraplanetary HD Hex Motor	backRight

Configuration file download

To put this configuration file on your robot, drag this file into the "FIRST" folder of your Control Hub's file system.

669B

MecanumTest.xml

For more in-depth information on the configuration process check out Hello Robot - Configuration!

Gamepad Layout:

Gamepad Input	Function
Right Joystick - Left/Right	Strafe Left/Right
Left Joystick - Forward/Backward	Forward/Backward
Left Joystick - Left/Right	Turn Counter-Clockwise/Clockwise

More information on programming gamepads for use with your robot can be found at Hello Robot - Using Gamepads.

Programming Teleop - Blocks

This section makes the assumption that you have learned some of the FTC programming basics by going through the Hello Robot guide. If you have not gone through this guide please walk through it before proceeding.

In Hello Robot- Basics of Programming Drivetrains we covered how to program arcade drive with one joystick. For this example, we will be programming arcade drive using two joysticks to allow for strafing on the right stick. Remember this is just one way mecanum can be programmed!

Full code:

9KB

mecanumdemo.blk

Initialization:

For this program, when it is first initialized the lefthand motors will be set to run in reverse.

Moving Forward and Back:

For a mecanum drivetrain all 4 motors will be given a command to follow when the left joystick is moved forward/back.

Strafing:

For this example, strafing is controlled by the right stick's X-axis allowing the robot to slide left and right as the diagnol wheels move in opposite directions.

Turning:

For this demo, turning is controlled by moving the left stick back and forth along it's X-axis.