README.md

FTC Code Organizer

This template created by team 19458 Equilibrium.exe makes it easy to keep your code organized and allows the Autonomous and TeleOp periods to share code.

Overview

Each subsystem has its own class that handles all motors, servos, and sensors for that subsystem. Instances of these classes are stored in the Robot class, which extends LinearOpMode.

Setup

The easiest way to use the template is to fork or clone this repository. If your team already has the SDK installed, you can manually download the robot package into the teamcode directory.

Creating Subsystems

Each subsystem is its own object stored in the Robot class. To create a subsystem, put this starter code into a new class in the robot package:

package org.firstinspires.ftc.teamcode.robot;

public class Example extends Subsystem{
    //instance variables here

    public Example() {
        //init code here
    }

    @Override
    public void onStart() {
        //teleop run code here
    }

    @Override
    public void manualControl() {
        //teleop loop code here
    }

    //other methods here
}

Replace Example with the name of the subsystem (and file name), then implement code where the comments tell you to. You will also need to add the subsystem to the Robot class. You can do this by creating the following instance variable:

protected Example example;

You will also need to initialize the variable and add it to the list in the constructor:

example = new Example();
        subsystems.add(example);

To call a method from a subsystem OpMode, you can reference the variable you created.

Autonomous

You can start your autonomous program with this starter code:

@Autonomous
public class Auto extends Robot {
    @Override
    public void runOpMode() throws InterruptedException {
        init(Alliance.BLUE,true);

        waitForStart();

        //auto code here
    }
}

TeleOp

All teleop code should be written in the onStart() and manualControl() methods of subsystems, and the teleOp() method in the Robot class. Gamepads should only be called from the Controls class. Because of this, your teleop code can be as simple as this:

@TeleOp
public class Teleop extends Robot {
    @Override
    public void runOpMode() throws InterruptedException {
        init(Subsystem.alliance, false);
        
        waitForStart();

        teleOp();
    }
}

Help

If you have any trouble using the template on your robot, feel free to open a GitHub issue.