Tele-Op

Getting Started

First, figure out what hardware you have. Make variables to store everything and then make sure to assign hardware to these using hardwareMap in init(). Once you’re all set up, let’s get started.

Movement

First step – let’s move! Using your chassis, start moving. Holonomic chassis’s will require a bit of math, outlined in the DriveTrains page. Make sure all your motors work and use values from the joystick axes. Remember, these are -1 to 1, and are on a radius of 1 so you don’t need to clip these unless you use holonomic drive.

Pro-Tip: use the left joystick y axis for powering motors, and the x-axis for the right joystick (both on gamepad 1) for turning. For holonomic drives, use the x-axis for the left joystick to control strafing.

Functions

Communicate with your drivers, and figure out what control mappings work best for them. Combo buttons are a must, and try to map out each function to provide the drivers with maximum control. Although FTC permits two drivers, and traditionally two are used, we encourage using one driver. It is very difficult to communicate between two drivers, making a one-person drive system more efficient and less limiting.

Pro-Tip: Keep your key-bindings easily accessible – like variables, so that you can easily rearrange them.

Keep it functional

Good code must be maintained. Make sure your functions work, and if your drivers use sensors during matches make sure the sensors work. Even if it gets some glares from the builders, playtest your bot and play rough, ensuring that you can explore the true limits of the hardware. It is important to do this to find unaccounted possibilities, as well as hardware issues – for example after rigorous testing we found that the wire from our android phone to the power module is extremely weak and breakable.

Example:

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