Making a New TeleOp

Be advised that this looks a lot different than it used to. But it's also a lot easier.
Also of note: Most TeleOp cases will look identical, except that they will use different robots or different control schemes. As such, you can usually take the RobotATestTeleOp (which looks similar to the code below) as a template and modify those two fields as needed, and the rest of the code will still work. Rarely will you need to create a whole new TeleOp.
A more common scenario would be creating a new control scheme.

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package org.firstinspires.ftc.teamcode.fy23;

// some imports here

@TeleOp()
public class NewTeleOp extends OpMode {
	
	Robot robot;
	
	// IndyTeleOpScheme is what we're used to. FieldyTeleOpScheme offers field-oriented driving.
	IndyTeleOpScheme controlScheme;
	
	// This will store the state the controller is in.
	TeleOpState controlState;
	
	public void init() {
		robot = new Robot(RobotRoundhouse.getRobotAParameters(hardwareMap));
		controlScheme = new IndyTeleOpScheme(driver:gamepad1, manipulator:gamepad2);
	}
	
	public void loop() {
		// update controller state
		controlState = controlScheme.getState();
		
		// handle movement
		robot.drive.applyDTS(controlState.getDTS().normalize());
		
		// handle pivot arm
		robot.arm.setPivotPower(controlState.getPivotPower());
		robot.arm.setElevatorPower(controlState.getElevatorPower());
		
		// handle claw
		robot.claw.setState(controlState.getClawState());
		
		// handle plane launcher
		if controlState.isLaunch() {
			robot.planeLauncher.launch();
		}
		
		// call robot.update - This is very important!
		robot.update();
	}
	
}
		

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TeleOp has three important components:

• Initialization
  • Choose which Robot to use. The Robot will initialize all subsystems and use the correct calibration values.
  • Choose which control scheme to use. This is up to driver preference.
• Map controller actions to subsystem actions
  • For example, when the "armToBackdrop" button is pressed, set the arm's pivotAngle to 60 degrees. It's simply a link between the request to perform the action and actually performing it.
  actually performing it.

Call robot.update()

• This calls the update() method of each subsystem. All subsystems have this method available and assume that it is called each loop.