org.firstinspires.ftc.teamcode.Robot Class Reference

Glue class for all subsystems. More...

Public Member Functions
	Robot (HardwareMap hardwareMap, Telemetry telemetry, ElapsedTime timer, AllianceColor allianceColor, Gamepad gamepad1, Gamepad gamepad2, HashMap< String, Boolean > flags)
double	getBatteryVoltage ()
void	telemetryBroadcast (String caption, String value)

Static Public Member Functions
static void	updateGamepads ()

Public Attributes
final String	initLogTag = "init"
final ElapsedTime	timer
final boolean	visionEnabled
final HardwareMap	hardwareMap
BNO055IMU	imu
OldDrive	drive
Control	control
Vision	vision
WebThread	web

Static Public Attributes
static final double	length = 18.0
static final double	width = 18.0
static GamepadWrapper	gamepad1
static GamepadWrapper	gamepad2

Protected Member Functions
void	init ()
	Runs all init operations.
void	imuInit ()
void	subsystemInit ()

Private Attributes
final MasterLogger	logger
final AllianceColor	allianceColor
final boolean	webEnabled
final boolean	odometryEnabled
final Telemetry	telemetry

Detailed Description

Glue class for all subsystems.

All competition OpModes instantiate this class, as well as some Test OpModes.

This will initialize all subsystems, but certain can be disabled with flags ("vision", and "web")

Constructor & Destructor Documentation

Robot()

org.firstinspires.ftc.teamcode.Robot.Robot	(	HardwareMap	hardwareMap,
		Telemetry	telemetry,
		ElapsedTime	timer,
		AllianceColor	allianceColor,
		Gamepad	gamepad1,
		Gamepad	gamepad2,
		HashMap< String, Boolean >	flags )

Parameters

hardwareMap	The hardware map for the robot
telemetry	The telemetry object
timer	The elapsed time
allianceColor	the alliance color of the robot, usually set on a per-opmode basis
gamepad1	The first gamepad (the robot movement controller)
gamepad2	The second gamepad (control for the arms and claws)
flags	A hashmap of flags, used to disable certain subsystems

Flags:

• vision - toggles vision subsystem, enabled by default
• web - toggles web subsystem, disabled by default
• odometry - toggles odometry subsystem, disabled by default

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The documentation for this class was generated from the following file:

• CenterStage/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Robot.java