2021-2022 Robotic Rams Team 10243 Freight Frenzy Code

Setup:

• Navigate to teamcode folder to find modified code (TeamCode/src/main/java/org/teamcode)

  • Auto_PX.java - Autonomous program for positions as defined in the graphic below
  • MecanumTeleop.java - Teleop program
  • HardwareMecanum.java - Definitions of motor names to be set in configuration of app

• Ensure the configuration of the app is set as defined in HardwareMecanum.java and as shown below.

• Reference this guide to learn how to set the software / electrical hardware up.

Positions Reference (For Autonomous )

(Parking area on top) [ Note locations marked 1, 2, 3, 4 ]
______________
|  _|    |_  |
|[1]      [2]|
|   O    O   |
|[3]      [4]|
|____________|

Motor Configuration

Names of motors in “Configure Robot” menu on phones:

• Front Left Motor: “FL”
• Front Right Motor: “FR”
• Back Left Motor: “BL”
• Back Right Motor: “BR”
• Intake Motor: "AD"
• Lift Motor Left: "LDL"
• Lift Motor Right: "LDR"

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About The Code

The code is broken up into two parts: FtcRobotController and TeamCode. TeamCode is where you write code (most of the time you will be here). FtcRobotController contains samples for programs that can be implemented in FtcRobotController\FtcRobotController\src\main\java\org\firstinspires\ftc\robotcontroller\external\samples.

Code Architecture

FTC Robotics has 2 types of programs made for the robot: Autonomous and TeleOp. These correspond to the times in the game when the teams can use controllers to drive the robots and when they can only spectate.

• TeleOp code is ran when teams can use a controller to drive around the robot. This is hooking up the controller to the motors and servos of the robot.
• Autonomous code is ran when teams cannot do anything, and the robot moves around on it's own. This is programming the robot to move around and do things on it's own.

FtcRobotController\TeamCode\src\main\java\org\teamcode contains the TeleOp and Autonomous code.

Important Program Files:

Hardware Mecanum

• Defines the hardware that is then used in the MecanumTeleop and AutonomousProgram classes
• For instance, any motors or servos are defined here

Mecanum Teleop

• Opmode that allows for driving the robot via the left joystick
• Trig is used to rotate the input so that when somebody pushes a joystick left, the robot moves left
• Also handles spinning the robot with the right joystick

AutonomousProgram

• Program controls the robot without any input

Info

This GitHub repository contains the source code that is used to build an Android app to control a FIRST Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer.