Package org.firstinspires.ftc.teamcode.fy24.robots

Class Robot24

java.lang.Object

org.firstinspires.ftc.teamcode.fy24.robots.Robot24

public class Robot24
extends Object

Represents a complete robot consisting of up to 5 subsystems. Basically, constructing this will construct all of the subsystems for you, which in turn do all of the low-level hardware setup work.

Call methods of subsystems to perform actions. For example, to open the claw: robot.claw.setState(Claw.State.OPEN); Or to start driving forward: robot.drive.applyDTS(new DTS(1, 0, 0));

Programmers who are used to working directly with the SDK to write complete TeleOps might appreciate turning about 120 lines of boilerplate code and a different OpMode for each robot into the following line in a single OpMode: Robot24 robot = new Robot24(RobotRoundhouse.getParamsAuto());

See RobotRoundhouse to find Robot24.Parameters to pass in here.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Robot24.ExtendedParameters	Robot-specific parameters that are not used directly by the Robot but by external things, usually processors.
static class	Robot24.Parameters	Subsystems are encapsulated in this class, so their Parameters are too.

Field Summary

Fields

Modifier and Type	Field	Description
final DoubleArm	arm
final Claw	claw
final RRMecanumDrive	drive
final Robot24.ExtendedParameters	extendedParameters
final FriendlyIMU	imu
final RotaryIntake	intake
final com.qualcomm.robotcore.hardware.VoltageSensor	voltageSensor

Constructor Summary

Constructors

Constructor	Description
Robot24(Robot24.Parameters parameters, com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)	Returns a new Robot24 containing an instance of each subsystem (or a blank wherever a subsystem is not present).

Method Summary

Modifier and Type	Method	Description
void	update()	Call this method in the loop portion of your OpMode.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

extendedParameters

public final Robot24.ExtendedParameters extendedParameters

claw

public final Claw claw

intake

public final RotaryIntake intake

imu

public final FriendlyIMU imu

drive

public final RRMecanumDrive drive

arm

public final DoubleArm arm

voltageSensor

public final com.qualcomm.robotcore.hardware.VoltageSensor voltageSensor

Constructor Details

Robot24

public Robot24(Robot24.Parameters parameters,
 com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Returns a new Robot24 containing an instance of each subsystem (or a blank wherever a subsystem is not present). Robot24.Parameters Pass in the hardwareMap provided by your OpMode.

Method Details

update

public void update()

Call this method in the loop portion of your OpMode. Remember this; some subsystems will not function at all if you forget!