> For the complete documentation index, see [llms.txt](https://docs.revrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.revrobotics.com/ftc-kickoff-concepts/home/programming-teleop-and-auto.md).

# Programming TeleOp and Auto

## Getting Started!

This year's Starter Bot program focuses on simplicity, providing a foundation for teams to then build upon in both TeleOp control and Auto. This walkthrough will begin with an overview of the configuration, wiring, and gamepad set up. 

If your team is new to FTC, or in need of a review, we strongly recommend checking out our updated [Hello Robot Programming Guide](https://docs.revrobotics.com/duo-control/hello-robot-blocks/welcome) before diving in!

To begin, let's take a look at the configuration and actuators used in this year's design.

## Configuration

Before getting started with programming we needed to create a [configuration file](https://docs.revrobotics.com/duo-control/hello-robot-blocks/configuration). Below is an overview of how the robot is configured for the TeleOp code to function as expected:

<table><thead><tr><th width="117.5999755859375">Port Type</th><th width="109.00006103515625" align="center">Port Number</th><th>Device Type</th><th>Name</th></tr></thead><tbody><tr><td>Motor</td><td align="center">0</td><td>REV Robotics Ultraplanetary HD Hex Motor</td><td>leftDrive</td></tr><tr><td>Motor</td><td align="center">1</td><td>REV Robotics Ultraplanetary HD Hex Motor</td><td>rightDrive</td></tr><tr><td>Motor</td><td align="center">2</td><td>REV Robotics Core Hex Motor</td><td>intakeMotor</td></tr><tr><td>Motor</td><td align="center">3</td><td>REV Robotics Ultraplanetary HD Hex Motor</td><td>flywheel</td></tr><tr><td>Servo</td><td align="center">0</td><td>Continuous Servo</td><td>crServo</td></tr><tr><td>Servo</td><td align="center">1</td><td>Servo</td><td>pollenServo</td></tr></tbody></table>

### Configuration File Download

If the "Download" button is not visible, right click the file below and select "save link as". To put this configuration file on your robot, drag this file into the "FIRST" folder of your Control Hub's file system.

{% file src="/files/Oa9Nh3y5Y2zqy0sUrg5S" %}

You will need to activate the configuration using the Driver Hub before proceeding. [Click here to learn more about the configuration process.](https://docs.revrobotics.com/duo-control/hello-robot-blocks/configuration#the-importance-of-configuration)

## Wiring Diagram

<figure><img src="https://268621232-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MHCAE012xNfg1h3SM9v%2Fuploads%2FMgK5ZCcTVM5PRzHgedlF%2F2026-27_StarterBot-Wiring.png?alt=media&amp;token=7a7da0c8-20a8-4587-b1cb-8b0d7dd1877d" alt=""><figcaption><p>REV FTC Starter Bot 2026-27 Wiring Diagram</p></figcaption></figure>

<table><thead><tr><th width="152.20001220703125">Device Name</th><th width="339.39990234375">Device Type</th><th>Port</th></tr></thead><tbody><tr><td>leftDrive</td><td>UltraPlanetary Gearbox Kit and HD Hex Motor</td><td>Motor/Encoder Port 0</td></tr><tr><td>rightDrive</td><td>UltraPlanetary Gearbox Kit and HD Hex Motor</td><td>Motor/Encoder Port 1</td></tr><tr><td>intakeMotor</td><td>Core Hex Motor</td><td>Motor/Encoder Port 2</td></tr><tr><td>flywheel</td><td>UltraPlanetary Gearbox Kit and HD Hex Motor</td><td>Motor/Encoder Port 3</td></tr><tr><td>crServo</td><td>Smart Robot Servo - set to CR mode</td><td>Servo Port 0</td></tr><tr><td>pollenServo</td><td>Smart Robot Servo</td><td>Servo Port 1</td></tr></tbody></table>

## Gamepad Setup <a href="#gamepad-setup" id="gamepad-setup"></a>

The 2026-27 REV DUO FTC Starter Bot is designed to use arcade drive for the default. Check out our [Upgrades](/ftc-kickoff-concepts/home/upgrades.md) page for the split arcade drive version of the program.

In arcade drive, one joystick will control all movements of the drivetrain. For the example code, the left joystick controls the drivetrain freeing up the right hand to activate the various action buttons!

{% hint style="info" %}
Not all gamepads have buttons labeled the same way. Check the manufacturer's documentation for accurate button mapping.
{% endhint %}

<figure><img src="https://268621232-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MHCAE012xNfg1h3SM9v%2Fuploads%2FCIDal9YZ5zGUL52ISRKR%2F2026-27_StarterBot-Gamepad.png?alt=media&amp;token=e2a24f02-d621-4a43-b835-397016e9e152" alt=""><figcaption></figcaption></figure>

### 2026-27 REV DUO FTC Starter Bot Gamepad Layout:

| Gamepad Input | Function                                                    |
| ------------- | ----------------------------------------------------------- |
| Left Joystick | Drivetrain control  (Arcade Drive)                          |
| Left Bumper   | Flywheel Sequence: Activates flywheel then feeder servo     |
| Right Bumper  | Intakes pollen                                              |
| Right Trigger | Outtakes pollen (reverses Core Hex Motor)                   |
| Dpad Up       | Manual control for the servo feeder                         |
| Dpad Down     | Manually reverses the servo feeder                          |
| Y/Triangle    | Manually activates ONLY the flywheel to the target velocity |
| X/Square      | Manually reverses the flywheel at half power                |
| A/Cross       | Moves pollen poker servo to preset down position            |
| B/Circle      | Moves pollen poker servo to preset up position              |

More information on programming gamepads for use with your robot can be found at [Hello Robot - Using Gamepads](https://docs.revrobotics.com/duo-control/hello-robot-blocks/using-a-gamepad).

{% hint style="warning" %}
The REV USB PS4 Compatible Gamepad (REV-31-2983) has two remappable M-buttons on the back side of the controller.&#x20;

[Please see the guide here for how to remap](https://docs.revrobotics.com/rev-crossover-products/gamepad/remapping-guide).
{% endhint %}

## Basic TeleOp Programs Download

### Blocks:

[Check out *FIRST*'s guide on uploading a Blocks program!](https://ftc-docs.firstinspires.org/en/latest/programming_resources/tutorial_specific/blocks/managing_opmodes/managing-opmodes.html#uploading-blocks)

{% file src="/files/irXibJ3w9gqqDRjKvNYM" %}

### OnBot Java:

{% file src="/files/MPknwdRonQWpcCSH51kK" %}

## Autonomous Program Downloads

### Blocks Auto:

[Check out *FIRST*'s guide on uploading a Blocks program!](https://ftc-docs.firstinspires.org/en/latest/programming_resources/tutorial_specific/blocks/managing_opmodes/managing-opmodes.html#uploading-blocks)

{% file src="/files/Dr6m5ZvlerTdqp4PbpIi" %}

### OnBot Java Auto:

{% file src="/files/m4QzcNU0l6zwREr7b2Rp" %}

## Quick Links Navigation

|                                                           Quick Links                                                          |
| :----------------------------------------------------------------------------------------------------------------------------: |
|            [Programming - Overview](/ftc-kickoff-concepts/home/programming-teleop-and-auto/programming-overview.md)            |
|          [Programming - Subsystems](/ftc-kickoff-concepts/home/programming-teleop-and-auto/programming-subsystems.md)          |
|            [Programming - Flywheel](/ftc-kickoff-concepts/home/programming-teleop-and-auto/programming-flywheel.md)            |
|                [Programming - Auto](/ftc-kickoff-concepts/home/programming-teleop-and-auto/programming-auto.md)                |
| [Programming - OnBot Java Overview](/ftc-kickoff-concepts/home/programming-teleop-and-auto/programming-onbot-java-overview.md) |

## Full Blocks Code

<figure><img src="https://268621232-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MHCAE012xNfg1h3SM9v%2Fuploads%2FJdu2q3mKhuj6GwN7x9I0%2FREVStarterBotTeleOp2026%20(3).png?alt=media&amp;token=8dc0996f-1c42-4014-8897-f4b7a8670d62" alt=""><figcaption><p>The 2026-27 DUO FTC Starter Bot Blocks Code</p></figcaption></figure>

## Programming Walkthrough Video

Coming Soon!