> For the complete documentation index, see [llms.txt](https://docs.cb21829.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cb21829.org/ftc-java-beginner-guide/reference-examples-complete-copy-pasteable.md). # Reference examples (complete, copy-pasteable) ### A complete competition TeleOp ```java package org.firstinspires.ftc.teamcode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.Servo; import com.qualcomm.robotcore.hardware.CRServo; @TeleOp(name = "Full TeleOp", group = "Competition") public class FullTeleOp extends LinearOpMode { private DcMotor frontLeft, backLeft, frontRight, backRight; private DcMotor lift; private Servo claw; private CRServo intake; private static final double CLAW_OPEN = 0.0; private static final double CLAW_CLOSED = 0.55; private static final int LIFT_MIN = 0; private static final int LIFT_MAX = 2200; private boolean clawClosed = false; private boolean lastRB = false; @Override public void runOpMode() { frontLeft = hardwareMap.get(DcMotor.class, "frontLeft"); backLeft = hardwareMap.get(DcMotor.class, "backLeft"); frontRight = hardwareMap.get(DcMotor.class, "frontRight"); backRight = hardwareMap.get(DcMotor.class, "backRight"); lift = hardwareMap.get(DcMotor.class, "lift"); claw = hardwareMap.get(Servo.class, "claw"); intake = hardwareMap.get(CRServo.class, "intake"); frontLeft.setDirection(DcMotor.Direction.REVERSE); backLeft.setDirection(DcMotor.Direction.REVERSE); frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); lift.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); claw.setPosition(CLAW_OPEN); telemetry.addLine("Ready. Press PLAY."); telemetry.update(); waitForStart(); if (isStopRequested()) return; while (opModeIsActive()) { double speed = gamepad1.left_bumper ? 0.35 : 1.0; double y = -gamepad1.left_stick_y; double x = gamepad1.left_stick_x * 1.1; double rx = gamepad1.right_stick_x; double denom = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1.0); frontLeft.setPower(((y + x + rx) / denom) * speed); backLeft.setPower(((y - x + rx) / denom) * speed); frontRight.setPower(((y - x - rx) / denom) * speed); backRight.setPower(((y + x - rx) / denom) * speed); double liftInput = -gamepad2.left_stick_y; int liftPos = lift.getCurrentPosition(); if (liftInput > 0 && liftPos >= LIFT_MAX) liftInput = 0; if (liftInput < 0 && liftPos <= LIFT_MIN) liftInput = 0; lift.setPower(liftInput); boolean rb = gamepad2.right_bumper; if (rb && !lastRB) { clawClosed = !clawClosed; claw.setPosition(clawClosed ? CLAW_CLOSED : CLAW_OPEN); } lastRB = rb; if (gamepad2.right_trigger > 0.1) { intake.setPower(gamepad2.right_trigger); } else if (gamepad2.left_trigger > 0.1) { intake.setPower(-gamepad2.left_trigger); } else { intake.setPower(0); } telemetry.addData("Speed mode", gamepad1.left_bumper ? "SLOW" : "FULL"); telemetry.addData("Lift pos", liftPos); telemetry.addData("Claw", clawClosed ? "CLOSED" : "OPEN"); telemetry.update(); } } } ``` ### A complete basic autonomous ```java package org.firstinspires.ftc.teamcode; import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; import com.qualcomm.robotcore.eventloop.opmode.Autonomous; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.IMU; import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; @Autonomous(name = "Basic Auto", group = "Competition") public class BasicAuto extends LinearOpMode { private DcMotor frontLeft, backLeft, frontRight, backRight; private IMU imu; private static final double TICKS_PER_REV = 537.7; private static final double WHEEL_DIAM_IN = 3.78; private static final double TICKS_PER_INCH = TICKS_PER_REV / (WHEEL_DIAM_IN * Math.PI); @Override public void runOpMode() { frontLeft = hardwareMap.get(DcMotor.class, "frontLeft"); backLeft = hardwareMap.get(DcMotor.class, "backLeft"); frontRight = hardwareMap.get(DcMotor.class, "frontRight"); backRight = hardwareMap.get(DcMotor.class, "backRight"); frontLeft.setDirection(DcMotor.Direction.REVERSE); backLeft.setDirection(DcMotor.Direction.REVERSE); imu = hardwareMap.get(IMU.class, "imu"); imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot( RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.FORWARD))); imu.resetYaw(); telemetry.addLine("Auto ready."); telemetry.update(); waitForStart(); if (isStopRequested()) return; driveInches(24, 0.5); turnToHeading(90); driveInches(12, 0.5); turnToHeading(0); driveInches(-12, 0.5); } private void driveInches(double inches, double power) { int target = (int) (inches * TICKS_PER_INCH); for (DcMotor m : new DcMotor[]{frontLeft, backLeft, frontRight, backRight}) { m.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); m.setMode(DcMotor.RunMode.RUN_USING_ENCODER); } double startHeading = getHeading(); while (opModeIsActive() && Math.abs(frontLeft.getCurrentPosition()) < Math.abs(target)) { double error = angleWrap(startHeading - getHeading()); double correction = 0.02 * error; double dir = Math.signum(inches); frontLeft.setPower(dir * power - correction); backLeft.setPower(dir * power - correction); frontRight.setPower(dir * power + correction); backRight.setPower(dir * power + correction); telemetry.addData("target", target); telemetry.addData("pos", frontLeft.getCurrentPosition()); telemetry.update(); } stopDrive(); } private void turnToHeading(double targetDeg) { double error = angleWrap(targetDeg - getHeading()); while (opModeIsActive() && Math.abs(error) > 1.0) { error = angleWrap(targetDeg - getHeading()); double turn = Math.max(-0.5, Math.min(0.5, 0.02 * error)); frontLeft.setPower(-turn); backLeft.setPower(-turn); frontRight.setPower(turn); backRight.setPower(turn); telemetry.addData("target", targetDeg); telemetry.addData("current", getHeading()); telemetry.update(); } stopDrive(); } private void stopDrive() { frontLeft.setPower(0); backLeft.setPower(0); frontRight.setPower(0); backRight.setPower(0); } private double getHeading() { return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES); } private double angleWrap(double deg) { while (deg > 180) deg -= 360; while (deg < -180) deg += 360; return deg; } } ``` ### A reusable hardware class ```java package org.firstinspires.ftc.teamcode; import com.qualcomm.robotcore.hardware.DcMotor; import com.qualcomm.robotcore.hardware.HardwareMap; import com.qualcomm.robotcore.hardware.Servo; public class RobotHardware { public DcMotor frontLeft, backLeft, frontRight, backRight; public DcMotor lift; public Servo claw; public void init(HardwareMap hwMap) { frontLeft = hwMap.get(DcMotor.class, "frontLeft"); backLeft = hwMap.get(DcMotor.class, "backLeft"); frontRight = hwMap.get(DcMotor.class, "frontRight"); backRight = hwMap.get(DcMotor.class, "backRight"); lift = hwMap.get(DcMotor.class, "lift"); claw = hwMap.get(Servo.class, "claw"); frontLeft.setDirection(DcMotor.Direction.REVERSE); backLeft.setDirection(DcMotor.Direction.REVERSE); } public void drive(double y, double x, double rx) { double denom = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1.0); frontLeft.setPower((y + x + rx) / denom); backLeft.setPower((y - x + rx) / denom); frontRight.setPower((y - x - rx) / denom); backRight.setPower((y + x - rx) / denom); } } ``` ### Field-centric driving ```java double y = -gamepad1.left_stick_y; double x = gamepad1.left_stick_x; double rx = gamepad1.right_stick_x; double heading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS); double rotX = x * Math.cos(-heading) - y * Math.sin(-heading); double rotY = x * Math.sin(-heading) + y * Math.cos(-heading); rotX = rotX * 1.1; double denom = Math.max(Math.abs(rotY) + Math.abs(rotX) + Math.abs(rx), 1.0); frontLeft.setPower((rotY + rotX + rx) / denom); backLeft.setPower((rotY - rotX + rx) / denom); frontRight.setPower((rotY - rotX - rx) / denom); backRight.setPower((rotY + rotX - rx) / denom); if (gamepad1.options) imu.resetYaw(); ``` ### Snippet cheat sheet ```java intake.setPower(gamepad2.right_trigger); if (gamepad2.dpad_up) wrist.setPosition(0.9); if (gamepad2.dpad_left) wrist.setPosition(0.5); if (gamepad2.dpad_down) wrist.setPosition(0.1); if (gamepad2.y) { lift.setTargetPosition(2200); lift.setMode(DcMotor.RunMode.RUN_TO_POSITION); lift.setPower(0.8); } double clamped = Math.max(-1.0, Math.min(1.0, someValue)); double input = gamepad1.left_stick_y; if (Math.abs(input) < 0.05) input = 0; double volts = hardwareMap.voltageSensor.iterator().next().getVoltage(); ``` --- # Agent Instructions This documentation is published with GitBook. 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