Package org.firstinspires.ftc.teamcode.fy23.robot

Class Robot24

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.robot.Robot24

public class Robot24
extends Object

Encapsulates all of the components that make up a robot. A simple way to centralize initialization in one place (to avoid duplicated code across OpModes) and make it easier to work with multiple different robots, each of which is defined by a Robot24.Parameters class. The Parameters also contain calibration values that tune certain fine behaviors to each robot. An OpMode no longer needs to set up every individual motor and servo. It needs only to create a robot and use the powerful and convenient methods provided by its subsystems.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Robot24.ExtendedParameters	Extra stuff that external stuff (like IMUCorrector) uses
static class	Robot24.Parameters

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)	Pass in an ElapsedTime to be used by subsystems.

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)

Pass in an ElapsedTime to be used by subsystems. Useful for dependency injection. The other constructor creates a normal ElapsedTime.

Method Details

update

public void update()

Call this method in the loop portion of your OpMode.