After you have set up a RobotCfg, you can now write TeleOp and Autonomous OpModes.
The following is a sample TeleOp program that uses the sample RobotCfg.
package org.firstinspires.ftc.teamcode.sample.v1;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import ftc.electronvolts.util.Function;
import ftc.electronvolts.util.Functions;
import ftc.electronvolts.util.files.Logger;
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
*/
@TeleOp(name = "SampleTeleOp V1")
public class SampleTeleOp extends AbstractTeleOp<SampleRobotCfg> {
@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() {
return null;
}
@Override
protected void setup() {
}
@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()
);
}
@Override
protected void end() {
}
}
The next step is to make a Basic Autonomous Program (next chapter).