FTC Programming with ElectronVolts

To use the servos in TeleOp, you have to first get the servo from the robotCfg:

armServo = robotCfg.getServo(SampleRobotCfg.SampleServoName.ARM_SERVO);

Then you can move the servo to a preset with:

armServo.goToPreset(SampleRobotCfg.ArmServoPresets.RIGHT);

You can also specify the speed if you want the servo to turn more slowly:

armServo.goToPreset(SampleRobotCfg.ArmServoPresets.RIGHT, 0.2);

The following is the new TeleOp program with the servos added.

This example uses guava to initialize lists, which we have left for alternative methods.

/sample/v3/SampleTeleOp.java

package org.firstinspires.ftc.teamcode.sample.v3;

import com.google.common.collect.ImmutableList;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import ftc.electronvolts.util.Function;
import ftc.electronvolts.util.Functions;
import ftc.electronvolts.util.InputExtractor;
import ftc.electronvolts.util.files.Logger;
import ftc.evlib.hardware.servos.ServoControl;
import ftc.evlib.opmodes.AbstractTeleOp;

/**
 * This file was made by the electronVolts, FTC team 7393
 * Date Created: 10/18/16
 *
 * A sample TeleOp program that will allow you to control 2 motors with the left and right joysticks
 * This one also has controls for 2 servos:
 * arm servo:
 * dpad_left - go to LEFT
 * dpad_down - go to MIDDLE
 * dpad_right - go to RIGHT
 *
 * leg servo:
 * a button - go to DOWN
 * b button - go to MIDDLE
 * x button - go to UP
 *
 * I guess you could say that this opmode cost us ...
 * ... an arm and a leg!
 */

@TeleOp(name = "SampleTeleOp V3")
public class SampleTeleOp extends AbstractTeleOp<SampleRobotCfg> {
    private ServoControl armServo, legServo;

    @Override
    protected Function getJoystickScalingFunction() {
        //use an exponentially based function for the joystick scaling to allow fine control
        return Functions.eBased(5);
//        return Functions.squared();
//        return Functions.cubed();
//        return Functions.none();
    }

    @Override
    protected SampleRobotCfg createRobotCfg() {
        //create and return a SampleRobotCfg for the library to use
        return new SampleRobotCfg(hardwareMap);
    }

    @Override
    protected Logger createLogger() {
        //it will save logs in /FTC/logs/teleop[....].csv on the robot controller phone
        return new Logger("teleop", ".csv", ImmutableList.of(
                //each one of these is a column in the log file
                new Logger.Column("driver1.left_stick_y", driver1.left_stick_y),
                new Logger.Column("driver1.right_stick_y", driver1.right_stick_y),
                new Logger.Column("Accelerometer X", new InputExtractor<Double>() {
                    @Override
                    public Double getValue() {
                        return robotCfg.getAccelerometer().getX();
                    }
                }),
                new Logger.Column("ARM_SERVO position", new InputExtractor<Double>() {
                    @Override
                    public Double getValue() {
                        return armServo.getCurrentPosition();
                    }
                }),
                new Logger.Column("LEG_SERVO position", new InputExtractor<Double>() {
                    @Override
                    public Double getValue() {
                        return legServo.getCurrentPosition();
                    }
                })
        ));
    }

    @Override
    protected void setup() {
        //get the arm and leg servos from the SampleRobotCfg
        armServo = robotCfg.getServo(SampleRobotCfg.SampleServoName.ARM_SERVO);
        legServo = robotCfg.getServo(SampleRobotCfg.SampleServoName.LEG_SERVO);
    }

    @Override
    protected void setup_act() {

    }

    @Override
    protected void go() {

    }

    @Override
    protected void act() {
        //set the motor powers to the joystick values
        robotCfg.getTwoMotors().runMotors(
                driver1.left_stick_y.getValue(),
                driver1.right_stick_y.getValue()
        );

        //if the left dpad was just pressed
        if (driver1.dpad_left.justPressed()) {
            //move the servo arm to the LEFT position
            armServo.goToPreset(SampleRobotCfg.ArmServoPresets.LEFT);
        }
        //if the down dpad was just pressed
        if (driver1.dpad_down.justPressed()) {
            //move the servo arm to the MIDDLE position
            armServo.goToPreset(SampleRobotCfg.ArmServoPresets.MIDDLE);
        }
        //if the right dpad was just pressed
        if (driver1.dpad_right.justPressed()) {
            //move the servo arm to the RIGHT position
            armServo.goToPreset(SampleRobotCfg.ArmServoPresets.RIGHT);
        }


        //if the a button was just pressed
        if (driver1.a.justPressed()) {
            //move the leg servo to the DOWN position
            legServo.goToPreset(SampleRobotCfg.LegServoPresets.DOWN);
        }
        //if the b button was just pressed
        if (driver1.b.justPressed()) {
            //move the leg servo to the MIDDLE position
            legServo.goToPreset(SampleRobotCfg.LegServoPresets.MIDDLE);
        }
        //if the x button was just pressed
        if (driver1.x.justPressed()) {
            //move the leg servo to the UP position
            legServo.goToPreset(SampleRobotCfg.LegServoPresets.UP);
        }
    }

    @Override
    protected void end() {

    }
}

The next step is Adding Servos to Autonomous.