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Programming Teleop

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

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

Device Name

Device Type

Port

Items to consider when mapping out your gamepad:

What kind of input does the mechanism need?
- Joysticks and Triggers input to your code allowing you to adjust the speed of a motor based on the pressure applied to the trigger or position of the joystick.
- Buttons, Bumpers, and D-Pad provide to your code and are ideal for triggering an action such as rotating a motor to a set position.

Gamepad Input

Function

More information on programming gamepads for use with your robot can be found at.

In we covered how to program arcade drive with one joystick. For this example, we will be programming arcade drive using two joysticks. This type of drive is called "split arcade". In split arcade drive, the left joystick will control forward and reverse motion of the robot, and the right joystick will control turning. This is similar to how some RC cars are driven and video games are played.

Let's break down the Blocks Code for CENTERSTAGE!

This year's Starter Bot makes use of a lot of variables.

Variable

Purpose

This section allows the encoder on the arm Core Hex Motors to be reset to zero on start up and establishes their default behavior. Additionally, this sets two of the motors to run in reverse, one on the drivetrain and one of the arm motors.

This section acts as an additional check for resetting the arm's power and position as well as setting the Core Hex Motors to "RUN_TO_POSITION" mode as default when the play button is clicked.

Let's begin with programming our Split Arcade Drive. This code will take input from the right and left joysticks to determine the robot's movement. The left joystick controls forward and back, while the right stick controls left and right turning movement.

The triggers on the controller determine the direction of the arm's rotation. The arm's power is determined by how far down both triggers are pressed. Additionally, the if/then statement switches the arm between manual drive and being ready to run the preset positions.

There are three preset positions for the arm and wrist on the Starter Bot- intake, home, and scoring.

Controller Button

Position

This check prevents the Core Hex Motors from continuing to run while in home position to prevent potential overheating.

Let's take a closer look at all the parts of this if/then statement:

This if/then statement will only run if all the following are met:

The arm is not currently moving in manual mode from the triggers being pressed
The motors are actively on
The left Core Hex Motor's current and target position are less than or equal to the threshold (currently set to five)

When either or both of the bumpers on the controller are held down the gripper will open fully. When released it will return to the closed position to secure the fingers around the pixel.

To use this code with your Starter Bot, copy and paste it into a new OnBot Java OP Mode!

Programming Teleop

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

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

Device Name

Device Type

Port

Items to consider when mapping out your gamepad:

What kind of input does the mechanism need?
- Joysticks and Triggers input to your code allowing you to adjust the speed of a motor based on the pressure applied to the trigger or position of the joystick.
- Buttons, Bumpers, and D-Pad provide to your code and are ideal for triggering an action such as rotating a motor to a set position.

Gamepad Input

Function

More information on programming gamepads for use with your robot can be found at.

Let's break down the Blocks Code for CENTERSTAGE!

This year's Starter Bot makes use of a lot of variables.

Variable

Purpose

This section acts as an additional check for resetting the arm's power and position as well as setting the Core Hex Motors to "RUN_TO_POSITION" mode as default when the play button is clicked.

There are three preset positions for the arm and wrist on the Starter Bot- intake, home, and scoring.

Controller Button

Position

This check prevents the Core Hex Motors from continuing to run while in home position to prevent potential overheating.

Let's take a closer look at all the parts of this if/then statement:

This if/then statement will only run if all the following are met:

The arm is not currently moving in manual mode from the triggers being pressed
The motors are actively on
The left Core Hex Motor's current and target position are less than or equal to the threshold (currently set to five)

When either or both of the bumpers on the controller are held down the gripper will open fully. When released it will return to the closed position to secure the fingers around the pixel.

To use this code with your Starter Bot, copy and paste it into a new OnBot Java OP Mode!

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;

@TeleOp(name="Starter Bot 2024", group="Iterative Opmode")

public class StarterBot2024Teleop extends OpMode
{
    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor leftDrive = null;
    private DcMotor rightDrive = null;
    private DcMotor armLeft = null;
    private DcMotor armRight = null;
    private Servo gripper = null;
    private Servo wrist = null;
    
    private boolean manualMode = false;
    private double armSetpoint = 0.0;
    
    private final double armManualDeadband = 0.03;
    
    private final double gripperClosedPosition = 1.0;
    private final double gripperOpenPosition = 0.5;
    private final double wristUpPosition = 1.0;
    private final double wristDownPosition = 0.0;
    
    private final int armHomePosition = 0;
    private final int armIntakePosition = 10;
    private final int armScorePosition = 600;
    private final int armShutdownThreshold = 5;

    /*
     * Code to run ONCE when the driver hits INIT
     */
    @Override
    public void init() {
        telemetry.addData("Status", "Initialized");

        leftDrive  = hardwareMap.get(DcMotor.class, "leftDrive");
        rightDrive = hardwareMap.get(DcMotor.class, "rightDrive");
        armLeft  = hardwareMap.get(DcMotor.class, "armLeft");
        armRight = hardwareMap.get(DcMotor.class, "armRight");
        gripper = hardwareMap.get(Servo.class, "gripper");
        wrist = hardwareMap.get(Servo.class, "wrist");

        leftDrive.setDirection(DcMotor.Direction.FORWARD);
        rightDrive.setDirection(DcMotor.Direction.REVERSE);
        leftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        rightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        
        armLeft.setDirection(DcMotor.Direction.FORWARD);
        armRight.setDirection(DcMotor.Direction.REVERSE);
        armLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        armRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        armLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        armRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        armLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        armRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        armLeft.setPower(0.0);
        armRight.setPower(0.0);

        telemetry.addData("Status", "Initialized");
    }

    /*
     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
     */
    @Override
    public void init_loop() {
    }

    /*
     * Code to run ONCE when the driver hits PLAY
     */
    @Override
    public void start() {
        runtime.reset();
        
        armLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        armRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        armLeft.setTargetPosition(armHomePosition);
        armRight.setTargetPosition(armHomePosition);
        armLeft.setPower(1.0);
        armRight.setPower(1.0);
        armLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        armRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    }

    /*
     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
     */
    @Override
    public void loop() {
        double leftPower;
        double rightPower;
        double manualArmPower;
        
        //DRIVE
        double drive = -gamepad1.left_stick_y;
        double turn  =  gamepad1.right_stick_x;
        leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
        rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;

        leftDrive.setPower(leftPower);
        rightDrive.setPower(rightPower);
        
        //ARM & WRIST
        manualArmPower = gamepad1.right_trigger - gamepad1.left_trigger;
        if (Math.abs(manualArmPower) > armManualDeadband) {
            if (!manualMode) {
                armLeft.setPower(0.0);
                armRight.setPower(0.0);
                armLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
                armRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
                manualMode = true;
            }
            armLeft.setPower(manualArmPower);
            armRight.setPower(manualArmPower);
        }
        else {
            if (manualMode) {
                armLeft.setTargetPosition(armLeft.getCurrentPosition());
                armRight.setTargetPosition(armRight.getCurrentPosition());
                armLeft.setPower(1.0);
                armRight.setPower(1.0);
                armLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                armRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                manualMode = false;
            }
            
            //preset buttons
            if (gamepad1.a) {
                armLeft.setTargetPosition(armHomePosition);
                armRight.setTargetPosition(armHomePosition);
                armLeft.setPower(1.0);
                armRight.setPower(1.0);
                armLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                armRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                wrist.setPosition(wristUpPosition);
            }
            else if (gamepad1.b) {
                armLeft.setTargetPosition(armIntakePosition);
                armRight.setTargetPosition(armIntakePosition);
                armLeft.setPower(1.0);
                armRight.setPower(1.0);
                armLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                armRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                wrist.setPosition(wristDownPosition);
            }
            else if (gamepad1.y) {
                armLeft.setTargetPosition(armScorePosition);
                armRight.setTargetPosition(armScorePosition);
                armLeft.setPower(1.0);
                armRight.setPower(1.0);
                armLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                armRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                wrist.setPosition(wristUpPosition);
            }
        }
        
        //Re-zero encoder button
        if (gamepad1.start) {
            armLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            armRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
            armLeft.setPower(0.0);
            armRight.setPower(0.0);
            manualMode = false;
        }
        
        //Watchdog to shut down motor once the arm reaches the home position
        if (!manualMode &&
        armLeft.getMode() == DcMotor.RunMode.RUN_TO_POSITION &&
        armLeft.getTargetPosition() <= armShutdownThreshold &&
        armLeft.getCurrentPosition() <= armShutdownThreshold
        ) {
            armLeft.setPower(0.0);
            armRight.setPower(0.0);
            armLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
            armRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        }
        
        //GRIPPER
        if (gamepad1.left_bumper || gamepad1.right_bumper) {
            gripper.setPosition(gripperOpenPosition);
        }
        else {
            gripper.setPosition(gripperClosedPosition);
        }

        telemetry.addData("Status", "Run Time: " + runtime.toString());
        telemetry.addData("Gamepad", "drive (%.2f), turn (%.2f)", drive, turn);
        telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
        telemetry.addData("Manual Power", manualArmPower);
        telemetry.addData("Arm Pos:",
            "left = " + 
            ((Integer)armLeft.getCurrentPosition()).toString() + 
            ", right = " +
            ((Integer)armRight.getCurrentPosition()).toString());
        telemetry.addData("Arm Pos:",
            "left = " + 
            ((Integer)armLeft.getTargetPosition()).toString() + 
            ", right = " +
            ((Integer)armRight.getTargetPosition()).toString());
    }

    /*
     * Code to run ONCE after the driver hits STOP
     */
    @Override
    public void stop() {
    }

}