TeamClutch-FTC2016

Xtensible OpMode Library

Note that this is a development release code function and syntax is not guaranteed to be the

same between versions and code quality may be below usual standards FTC Android Studio project to create FTC Robot Controller app.

This is the FTC SDK that can be used to create an FTC Robot Controller app, with custom op modes. The FTC Robot Controller app is designed to work in conjunction with the FTC Driver Station app. The FTC Driver Station app is available through Google Play.

To use this SDK, download/clone the entire project to your local computer. Use Android Studio to import the folder ("Import project (Eclipse ADT, Gradle, etc.)").

Xtensible OpMode

This is the main "OpMode" class for this library. You can extend this class for use within the FTC SDK. It also bootstraps our library for use.

Core syntactical changes:

Getting references to robot hardware

Old Way:

hardwareMap.dcMotor.get("motor_1");

New Way:

ctx.hardwareMap().getDcMotors().get("motor_1");

Getting access to a gamepad's left joystick X

Old Way:

gamepad1.left_joystick.X;

New Way:

ctx.xGamepad1().getLeftJoystick().getX();

Logging

Old Way:

RobotLog.i("Hello World!");

New Way:

ctx.log().i("Hi", "Hello World!");

Networking

Old Way: There was never an old way.

New Way:

ctx.enableNetworking().startNetworking();

Modifying the server parameter:

ctx.enableNetworking();
// The default web directory is "/sdcard/FIRST/web"
ctx.getServerSettings().setWebDirectory("/put/here/where/your/web/directory/is");
ctx.startNetworking();

Structure

• FtcRobotController
  • doc - Documentation for the FTC SDK are included with this repository.
    • "apk" - contains the .apk files for the FTC Driver Station and FTC Robot Controller apps.
    • "javadoc" - contains the JavaDoc user documentation for the FTC SDK.
    • "tutorial" - contains PDF files that help teach the basics of using the FTC SDK.
  • src - contains the source code for the FTC SDK user-editable code portions
    • "opmodes" - provides user-defined OpModes
• OpModeLibrary - This module is where you add your OpMode code (note that you must not have dependencies on the FtcRobotController module, but you may depend on its libraries)
• FtcXtesible - This module contains our code to help you out with your programming

Upstream Changelog

• New user interfaces for FTC Driver Station and FTC Robot Controller apps.
• An init() method is added to the OpMode class.
  • For this release, init() is triggered right before the start() method.
  • Eventually, the init() method will be triggered when the user presses an "INIT" button on driver station.
  • The init() and loop() methods are now required (i.e., need to be overridden in the user's op mode).
  • The start() and stop() methods are optional.
• A new LinearOpMode class is introduced.
  • Teams can use the LinearOpMode mode to create a linear (not event driven) program model.
  • Teams can use blocking statements like Thread.sleep() within a linear op mode.
• The API for the Legacy Module and Core Device Interface Module have been updated.
  • Support for encoders with the Legacy Module is now working.
• The hardware loop has been updated for better performance.

Authors

David Sargent, T. Eng, Jonathan Berling August 3, 2015