FTC Programming with ElectronVolts

AbstractTeleOp extends AbstractOp and adds code to handle the gamepads. You can use this to make a TeleOp by extending this class. Here is and example. Inside your class you have access to driver1 and driver2, which are instances of the GamepadManager class. They add edge detection and scaling to the gamepads. See also: AbstractAutoOp

ftc/evlib/opmodes/AbstractTeleOp.java

package ftc.evlib.opmodes;

import ftc.electronvolts.util.Function;
import ftc.electronvolts.util.Functions;
import ftc.electronvolts.util.units.Time;
import ftc.evlib.driverstation.GamepadManager;
import ftc.evlib.hardware.config.RobotCfg;

/**
 * This file was made by the electronVolts, FTC team 7393
 * Date Created: 9/12/16
 * 
 * extends AbstractOp and adds gamepad edge detection and scaling, and a 2 minute timer
 *
 * @see AbstractOp
 * @see GamepadManager
 */
public abstract class AbstractTeleOp<Type extends RobotCfg> extends AbstractOp<Type> {
    public GamepadManager driver1;
    public GamepadManager driver2;

    /**
     * This is implemented by the teleop opmode
     *
     * @return a Function to scale the joysticks by
     */
    protected abstract Function getJoystickScalingFunction();

    @Override
    public Time getMatchTime() {
        return Time.fromMinutes(2); //teleop is 2 minutes
    }

    @Override
    public void start() {
        //set the joystick deadzone
//        gamepad1.setJoystickDeadzone(.1F);
//        gamepad2.setJoystickDeadzone(.1F);

        //get the scaling function
        Function f = getJoystickScalingFunction();
        if (f == null) {
            //if it is null set it to none
            f = Functions.none();
        }

        //apply the function to the gamepads and store them
        driver1 = new GamepadManager(gamepad1, f);
        driver2 = new GamepadManager(gamepad2, f);
        super.start();
    }

    @Override
    public void pre_act() {
        //update the joystick values
        driver1.update();
        driver2.update();
    }

    @Override
    public void post_act() {

    }
}