Writing an iterative TeleOp

With all of your hardware tediously configured, it's time to write an OpMode to control this hardware.

The scope of this guide will demonstrate a basic iterative TeleOp for a robot configured with a HoldableActuator vertical lift, MecanumDrive drivebase, and DualServos claw.

TeleOp template

In the directory of your robot, right click, and create a New > Java Class. This will be your main TeleOp class.

Remove all contents of this file and paste in the below template, ensuring to replace "Cubicle" with your robot name:

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import au.edu.sa.mbhs.studentrobotics.bunyipslib.BunyipsOpMode;
import au.edu.sa.mbhs.studentrobotics.bunyipslib.BunyipsSubsystem;

/**
 * Primary TeleOp.
 * Bootstrapped through bunyipslib-for-rookies.
 *
 * @author Your Name, Year // TODO: Set this to your name and the current year!
 */
@TeleOp(name = "TeleOp")
public class MainTeleOp extends BunyipsOpMode {
    private final Cubicle robot = new Cubicle();

    @Override
    protected void onInit() {
        robot.init();
        // TODO: Add any additional initialisation code here

    }

    @Override
    protected void activeLoop() {
        // TODO: Add your active looping code here

        BunyipsSubsystem.updateAll();
    }
}

Since all of the tedious configuration is abstracted into the configuration class, OpModes are simple to construct. The basic units of work within a BunyipsOpMode are the two methods, onInit(), and activeLoop().

onInit() is fired exactly once when the INIT button is pressed.

activeLoop() is called repeatedly (up to 200 times/sec) after the PLAY button has been pressed, until the OpMode is stopped.

The generic initialiser, robot.init() handles calling the onRuntime() method as defined in your RobotConfig, as well as checking for hardware map name mismatches.

The static method BunyipsSubsystem.updateAll() batch dispatches all hardware changes by calling .update() on every subsystem constructed at initialisation. Without this method, you would have to call .update() on all of your subsystems (e.g. drive.update(), lift.update()).

Adding functionality

This OpMode will appear on the Driver Station under the name "TeleOp" under the TeleOp list after you have deployed your code. However, it won't do anything meaningful at the moment.

The job of the TeleOp is to take Gamepad input from both gamepads and command the exposed subsystems you defined in your configuration file.

Some examples are provided for commanding common components in a TeleOp.

Commanding a Mecanum drive

The standard Mecanum controls is the left stick is used for translation and the right stick is used for rotation.

It is assumed this control is on gamepad1.

Inside the activeLoop(), add:

double forward = -gamepad1.left_stick_y;
double strafe = -gamepad1.left_stick_x;
double rotation = -gamepad1.right_stick_x;
robot.drive.setPower(Geometry.vel(forward, strafe, rotation));

You will need to add the import statement:

import au.edu.sa.mbhs.studentrobotics.bunyipslib.util.Geometry;

which you can do through Android Studio by hovering over the red Geometry and clicking Import class.

Commanding a lift

The standard lift controls is that an analog stick is used to power the motor in either direction, with idle being stationary.

It is assumed this control is on gamepad2.

Inside the activeLoop(), add:

robot.lift.setPower(-gamepad2.left_stick_y); // TODO: Select an appropriate stick

Commanding opening and closing claws

The standard claw controls is that a button is used to open the claws, and a button is used to close the claws.

It is assumed this control is on gamepad2.

Inside the activeLoop(), add:

// TODO: Select appropriate buttons (currently A and B, but can be any button on the controller)
//     You can also choose whether you only want to adjust one claw.
if (gamepad2.a) {
    claw.open(DualServos.ServoSide.BOTH);
}

if (gamepad2.b) {
    claw.close(DualServos.ServoSide.BOTH);
}

Optional toggles and rising edge detection

Sometimes, it is desired to instead toggle the state of the claws. However, naively calling claw.toggle() presents an issue. Since the activeLoop() runs so quickly, pressing the button will toggle the claw several hundred times a second, instead of firing only once.

This does not matter for methods that only set one state, but since a toggle mutates state, it will be toggled repeatedly.

A rising edge detector is built into the gamepads, which fires only on the "rising edge" of the gamepad signal. Inside the activeLoop(), to toggle the claws use:

// TODO: Select appropriate button (currently X)
if (gamepad2.getDebounced(Controls.X)) {
    claw.toggle(DualServos.ServoSide.BOTH);
}

Congratulations! At this point in the guide, you have now constructed a functional RobotConfig and simple TeleOp using BunyipsLib.

Further steps involve closely reading the BunyipsLib API and Wiki documentation, particularly around command-based, Autonomous, and advanced subsystem interaction.