io.github.thunderbots.lightning.opmode

Class TeleOp

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

io.github.thunderbots.lightning.opmode.LightningOpMode

io.github.thunderbots.lightning.opmode.SimpleOpMode

io.github.thunderbots.lightning.opmode.TeleOp

Direct Known Subclasses:

TeleOpTest

public abstract class TeleOp
extends SimpleOpMode

The TeleOp class is a base class that all tele-op programs should extend. It will handle everything directly related to driving and moving the robot, but nothing substantial beyond that.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
private ControlLayout	joystickLayout The control layout of the driving joystick.

Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

gamepad1, gamepad2, hardwareMap, telemetry, time

Constructor Summary

Constructors

Constructor and Description
TeleOp()

Method Summary

Modifier and Type	Method and Description
ControlLayout	createControlLayout() Constructs the joystick control layout that the op mode should use.
protected ControlLayout	getControlLayout() Gets a reference to the ControlLayout that this op mode is using.
protected void	initializeOpMode() Initializes the robot.
protected void	main() Executes the 'main procedure' of the op mode.
protected void	mainLoop() Executes the 'body' of any tele op.
protected void	setMovement() Sets the instantaneous movement of the robot based on readings from the joysticks.

Methods inherited from class io.github.thunderbots.lightning.opmode.SimpleOpMode

getRobot, setRobot

Methods inherited from class io.github.thunderbots.lightning.opmode.LightningOpMode

runOpMode

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

init_loop, init, loop, opModeIsActive, sleep, start, stop, waitForNextHardwareCycle, waitForStart, waitOneFullHardwareCycle

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

getRuntime, resetStartTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

joystickLayout

private ControlLayout joystickLayout

The control layout of the driving joystick.

Constructor Detail

TeleOp

public TeleOp()

Method Detail

main

protected void main()

Description copied from class: LightningOpMode

Executes the 'main procedure' of the op mode. This method will run either until interrupted by the system, or until the method returns.

Specified by:

main in class LightningOpMode

initializeOpMode

protected void initializeOpMode()

Description copied from class: LightningOpMode

Initializes the robot. This can be defined however it is seen fit by the specific overriding op mode. Any op mode that overrides this method should also call super.initializeOpMode() on the first line.

Overrides:

initializeOpMode in class LightningOpMode

See Also:

LightningOpMode.isInitialized

setMovement

protected void setMovement()

Sets the instantaneous movement of the robot based on readings from the joysticks.

mainLoop

protected void mainLoop()

Executes the 'body' of any tele op. Everything controlled by a teleop that would normally be done inside a while loop should be placed in this method. Movement is excluded from this, and should instead be defined in setMovement().

createControlLayout

public ControlLayout createControlLayout()

Constructs the joystick control layout that the op mode should use. A drive-turn layout is provided as the default, but that can be replaced by overriding this method.

Returns:

a constructed ControlLayout that should be used for this op mode.

getControlLayout

protected ControlLayout getControlLayout()

Gets a reference to the ControlLayout that this op mode is using.

Returns:

the control layout of this op mode.