FTC Code Organizer

This template created by team 19458 Equilibrium.exe makes it easy to keep yo ur code organized and allows the Autonomous and TeleOp periods to share code.

Overview

Each subsystem has its own class that handles all motors, servos, and sensors for that subsystem. Instances of these classes are stored in the Robot class, so creating an instance of the Robot class is all that's needed during initialization. Since these classes are the same for all OpModes, they can all use the same methods.

Setup

The easiest way to use the template is to fork this repository. If your team already has the SDK installed, you can manually download the robot package into the teamcode directory, and add the following line to the dependencies section of TeamCode/build.gradle:

implementation 'com.google.guava:guava:31.1-android'

Creating Subsystems

Each subsystem is its own object stored in the Robot class. To create a subsystem, put this starter code into a new class in the robot package:

package org.firstinspires.ftc.teamcode.robot;

public class Example extends Subsystem{
    //instance variables here
    
    public Example() {
        super();
        //constructor code here
    }
    
    @Override
    public void manualControl() {
        //teleop code here
    }
    
    //other methods here
}

Replace Example with the name of the subsystem (and file name), then implement code where the comments tell you to. You will also need to add the subsystem to the Robot class. You can do this by adding the following line to the end of the constructor:

subsystems.putInstance(Example.class, new Example());

Again, replace Example with the name of the subsystem.

To call a method from a subsystem in your OpMode, just use this line below and pass in the class for the subsystem:

((Example) (robot.getSubsystem(Example.class).get())).example();

If you want, you can also add this method to the Robot class to call it more easily using Robot.getExample():

public Example getExample() {
    return (Example) (getSubsystem(Example.class).get());
}

Autonomous

You can start your autonomous program with this starter code:

@Autonomous
public class Auto extends LinearOpMode {
    private Robot robot;

    @Override
    public void runOpMode() throws InterruptedException {
        robot = new Robot(hardwareMap, telemetry, true, Alliance.BLUE, gamepad1, gamepad2, this);

        waitForStart();

        //auto path here
    }
}

TeleOp

All teleop code should be written in the manualControl() methods of subsystems, and the fullManualControl() method in the Robot class. Gamepads should only be called from the Controls class. Because of this, your teleop code can be as simple as this:

@TeleOp
public class TeleOp extends LinearOpMode {
    private Robot robot;

    @Override
    public void runOpMode() throws InterruptedException {
        robot = new Robot(hardwareMap, telemetry, false, Subsystem.alliance, gamepad1, gamepad2, this);

        waitForStart();

        while (opModeIsActive()) {
            robot.fullManualControl();
        }
    }
}

Help

If you have any trouble using the template on your robot, feel free to open a GitHub issue.