FTC Programming with ElectronVolts

Before you write an OpMode using the EVLib, you have to make a class that will retrieve the devices (such as motors, servos, and sensors) from the hardwareMap.

Here is an example of this configuration class:

/sample/v1/SampleRobotCfg.java

package org.firstinspires.ftc.teamcode.sample.v1;

import com.qualcomm.robotcore.hardware.HardwareMap;

import ftc.electronvolts.util.units.Distance;
import ftc.electronvolts.util.units.Time;
import ftc.electronvolts.util.units.Velocity;
import ftc.evlib.hardware.config.RobotCfg;
import ftc.evlib.hardware.motors.Motors;
import ftc.evlib.hardware.motors.TwoMotors;

/**
 * This file was made by the electronVolts, FTC team 7393
 * Date Created: 10/18/16
 *
 * A basic configuration of a robot with 2 motors, and nothing else.
 * Its purpose is to make the same configuration available to multiple opmodes.
 */

public class SampleRobotCfg extends RobotCfg {
    /**
     * the speed of the robot at 100% power
     * you should replace this with a measured value
     */
    private static final Velocity MAX_SPEED = new Velocity(Distance.fromInches(50), Time.fromSeconds(5));

    /**
     * the drive motors of the robot
     */
    private final TwoMotors twoMotors;

    public SampleRobotCfg(HardwareMap hardwareMap) {
        super(hardwareMap);

        // create the twoMotors object
        twoMotors = new TwoMotors(
                //get the left and right motors and wrap it with the EVLib Motor interface
                Motors.withoutEncoder(hardwareMap, "leftMotor", false, true, stoppers),
                Motors.withoutEncoder(hardwareMap, "rightMotor", true, true, stoppers),
                false, //true for speed mode, false for power mode
                MAX_SPEED
        );
    }

    /**
     * gives the opmodes access to the drive motors
     *
     * @return the drive motors
     */
    public TwoMotors getTwoMotors() {
        return twoMotors;
    }

    @Override
    public void act() {

    }

    @Override
    public void stop() {

    }
}

The next step is to bring the robot to life with a Basic TeleOp Program (next chapter)