Package org.firstinspires.ftc.teamcode.fy25.robots

Class Robot25

java.lang.Object

org.firstinspires.ftc.teamcode.fy25.robots.Robot25

public class Robot25
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: Robot25 robot = new Robot25(RobotRoundhouse25.getParamsAuto(), hardwareMap); Or, new this year: Robot25 robot = RobotRoundhouse25.getRobotAuto(hardwareMap);

See RobotRoundhouse25 to find Robot25.Parameters to pass in here.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Robot25.ExtendedParameters	Robot-specific parameters that are not used directly by the Robot but by external things, usually processors.
static class	Robot25.InvalidDeviceClassException	Used when a subsystem that accepts multiple implementations of HardwareDevice receives one it doesn't expect
static class	Robot25.Parameters	Subsystems are encapsulated in this class, so their Parameters are too.

Field Summary

Fields

Modifier and Type	Field	Description
final RRMecanumDrive	drive
final Robot25.ExtendedParameters	extendedParameters
final FriendlyIMU	imu
final LauncherGate	launchGate
final LauncherWheel	launchWheel
final MotorIntake	motorIntake
final com.qualcomm.robotcore.hardware.VoltageSensor	voltageSensor

Constructor Summary

Constructors

Constructor	Description
Robot25(Robot25.Parameters parameters, com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)	Returns a new Robot25 Object 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 Robot25.ExtendedParameters extendedParameters

drive

public final RRMecanumDrive drive

imu

public final FriendlyIMU imu

launchWheel

public final LauncherWheel launchWheel

launchGate

public final LauncherGate launchGate

motorIntake

public final MotorIntake motorIntake

voltageSensor

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

Constructor Details

Robot25

public Robot25(Robot25.Parameters parameters,
 com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)
        throws Robot25.InvalidDeviceClassException

Returns a new Robot25 Object containing an instance of each subsystem (or a blank wherever a subsystem is not present). Get these from RobotRoundhouse25 Pass in the hardwareMap provided by your OpMode.

Throws:

Robot25.InvalidDeviceClassException

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!