FTC controls and programming with AndroidStudio

David Austin

Allendale Robotics

HexaSonics, FTC Team 7023

david.austin.m@gmail.com

1

Point-to-point wireless communication

There is not a Field Control System.

Advantage: Running at an event is just like running in yourpractice space.

2

Point-to-point wireless communication

There is not a Field Control System.

Advantage: Running at an event is just like running in yourpractice space.

2

Driver Station

Set up one phone as a dedicated driver station:

• Install the Driver Station app following the instructions inSection 8.6 in the FTC SDK User’s Manual (reference atthe end).

• You will establish a Wifi Direct connection between theDriver Station and Robot Controller. You must rename theDriver Station phone as stated in the FTC game manual:e.g. “7023-DS”

• If you update the development software during the season,you will need to update the Driver Station app.

3

Driver Station

Set up one phone as a dedicated driver station:

• Install the Driver Station app following the instructions inSection 8.6 in the FTC SDK User’s Manual (reference atthe end).

• You will establish a Wifi Direct connection between theDriver Station and Robot Controller. You must rename theDriver Station phone as stated in the FTC game manual:e.g. “7023-DS”

• If you update the development software during the season,you will need to update the Driver Station app.

3

Driver Station

Set up one phone as a dedicated driver station:

• Install the Driver Station app following the instructions inSection 8.6 in the FTC SDK User’s Manual (reference atthe end).

• You will establish a Wifi Direct connection between theDriver Station and Robot Controller. You must rename theDriver Station phone as stated in the FTC game manual:e.g. “7023-DS”

• If you update the development software during the season,you will need to update the Driver Station app.

3

Driver Station

Before each match:

• Connect gamepads through a USB hub

• Register gamepads with the Driver Station app

• “Start” + “A” for Driver 1

• “Start” + “B” for Driver 2

4

Driver Station

Before each match:

• Connect gamepads through a USB hub

• Register gamepads with the Driver Station app

• “Start” + “A” for Driver 1

• “Start” + “B” for Driver 2

4

Driver Station

Before each match:

• Connect gamepads through a USB hub

• Register gamepads with the Driver Station app

• “Start” + “A” for Driver 1

• “Start” + “B” for Driver 2

4

Driver Station

Before each match:

• Connect gamepads through a USB hub

• Register gamepads with the Driver Station app

• “Start” + “A” for Driver 1

• “Start” + “B” for Driver 2

4

Hardware configuration

5

Robot Controller

Set up another phone as a dedicated robot controller:

• You will spend most of your time building a RobotController app to install on this phone. More about thislater.

• Change the WiFi Direct name: e.g. “7023-RC”

• When both apps are running on their respective phones,establish a Wifi Direct pairing.From the Driver Station: Settings −→ Pair with RobotController.

• Accept the invitation in the Robot Controller.

• The Driver Station and Robot Controller can nowcommunicate.

6

Robot Controller

Set up another phone as a dedicated robot controller:

• You will spend most of your time building a RobotController app to install on this phone. More about thislater.

• Change the WiFi Direct name: e.g. “7023-RC”

• When both apps are running on their respective phones,establish a Wifi Direct pairing.From the Driver Station: Settings −→ Pair with RobotController.

• Accept the invitation in the Robot Controller.

• The Driver Station and Robot Controller can nowcommunicate.

6

Robot Controller

Set up another phone as a dedicated robot controller:

• You will spend most of your time building a RobotController app to install on this phone. More about thislater.

• Change the WiFi Direct name: e.g. “7023-RC”

• When both apps are running on their respective phones,establish a Wifi Direct pairing.From the Driver Station: Settings −→ Pair with RobotController.

• Accept the invitation in the Robot Controller.

• The Driver Station and Robot Controller can nowcommunicate.

6

Robot Controller

Set up another phone as a dedicated robot controller:

• You will spend most of your time building a RobotController app to install on this phone. More about thislater.

• Change the WiFi Direct name: e.g. “7023-RC”

• When both apps are running on their respective phones,establish a Wifi Direct pairing.From the Driver Station: Settings −→ Pair with RobotController.

• Accept the invitation in the Robot Controller.

• The Driver Station and Robot Controller can nowcommunicate.

6

Robot Controller

Set up another phone as a dedicated robot controller:

• You will spend most of your time building a RobotController app to install on this phone. More about thislater.

• Change the WiFi Direct name: e.g. “7023-RC”

• When both apps are running on their respective phones,establish a Wifi Direct pairing.From the Driver Station: Settings −→ Pair with RobotController.

• Accept the invitation in the Robot Controller.

• The Driver Station and Robot Controller can nowcommunicate.

6

Robot Controller

The robot code is contained in an Android app. To install yourapp from Android Studio, the phone must have “USBdebugging enabled.”

• (Phone) Settings→ About Phone→ Build number; Tap it 7times to become developer.

• (Phone) Settings→ Developer Options→ USB Debugging.

7

Robot Controller

The robot code is contained in an Android app. To install yourapp from Android Studio, the phone must have “USBdebugging enabled.”

• (Phone) Settings→ About Phone→ Build number; Tap it 7times to become developer.

• (Phone) Settings→ Developer Options→ USB Debugging.

7

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot

• Choose New and then Scan. This should detect yourexpansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).

• Give each motor and sensor a name. You will need toremember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.

• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.

• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.

• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name

• Select Activate to use this configuration in the controllerapp.

8

Robot Controller

You will need to “configure the robot,” which assigns names tothe devices you plan to reference in your code.

This can be done from either app.

• Settings −→ Configure Robot• Choose New and then Scan. This should detect your

expansion hub(s).• Give each motor and sensor a name. You will need to

remember these names so you may want to write themdown.• Pro tip: read the Wiki for configuring REV devices.• Kinda cool: the REV hub has a built-in IMU.• Save the configuration and give it a name• Select Activate to use this configuration in the controller

app. 8

Android Studio

To program in Android Studio, you will need to:

• Need to install Android Studio

• Import the FTC Software Development Kit (SDK) availableon github.

• Create a FTC Robot Controller app project in AndroidStudio

• Write your OpModes

• Install your app through Android Studio

9

Android Studio

To program in Android Studio, you will need to:

• Need to install Android Studio

• Import the FTC Software Development Kit (SDK) availableon github.

• Create a FTC Robot Controller app project in AndroidStudio

• Write your OpModes

• Install your app through Android Studio

9

Android Studio

To program in Android Studio, you will need to:

• Need to install Android Studio

• Import the FTC Software Development Kit (SDK) availableon github.

• Create a FTC Robot Controller app project in AndroidStudio

• Write your OpModes

• Install your app through Android Studio

9

Android Studio

To program in Android Studio, you will need to:

• Need to install Android Studio

• Import the FTC Software Development Kit (SDK) availableon github.

• Create a FTC Robot Controller app project in AndroidStudio

• Write your OpModes

• Install your app through Android Studio

9

Android Studio

To program in Android Studio, you will need to:

• Need to install Android Studio

• Import the FTC Software Development Kit (SDK) availableon github.

• Create a FTC Robot Controller app project in AndroidStudio

• Write your OpModes

• Install your app through Android Studio

9

OpModes

The main task of the programming team is to write OpModeswithin the FTC Robot Controller app.

• Except for registering the gamepads and connecting thephones, everything we’ve seen so far only needs to bedone once.

• Most of your programming time will be spent creatingopmodes. You will probably want to create a couple. Forinstance, one for teleop and at least one for autonomous.

• OpModes are created using an event-driven model, similarto how an Arduino is programmed.

10

OpModes

The main task of the programming team is to write OpModeswithin the FTC Robot Controller app.

• Except for registering the gamepads and connecting thephones, everything we’ve seen so far only needs to bedone once.

• Most of your programming time will be spent creatingopmodes. You will probably want to create a couple. Forinstance, one for teleop and at least one for autonomous.

• OpModes are created using an event-driven model, similarto how an Arduino is programmed.

10

OpModes

The main task of the programming team is to write OpModeswithin the FTC Robot Controller app.

• Except for registering the gamepads and connecting thephones, everything we’ve seen so far only needs to bedone once.

• Most of your programming time will be spent creatingopmodes. You will probably want to create a couple. Forinstance, one for teleop and at least one for autonomous.

• OpModes are created using an event-driven model, similarto how an Arduino is programmed.

10

OpModes

• OpModes extend OpMode as in

public class AmazingAuto extends OpMode

• You must register OpModes with the app by including anannotation:

@Autonomous(name="Amazing auto!", group="Wow")

// @Disabled

public class AmazingAuto extends OpMode

• You may also extend LinearOpMode. More on that later.

11

OpModes

• OpModes extend OpMode as in

public class AmazingAuto extends OpMode

• You must register OpModes with the app by including anannotation:

@Autonomous(name="Amazing auto!", group="Wow")

// @Disabled

public class AmazingAuto extends OpMode

• You may also extend LinearOpMode. More on that later.

11

OpModes

• OpModes extend OpMode as in

public class AmazingAuto extends OpMode

• You must register OpModes with the app by including anannotation:

@Autonomous(name="Amazing auto!", group="Wow")

// @Disabled

public class AmazingAuto extends OpMode

• You may also extend LinearOpMode. More on that later.

11

The life cycle of an OpMode

There are a number of methods you need to construct to definean OpMode.

• init(): Called once after Init is pressed.

• init loop(): Called every 25 milliseconds after Init ispressed.

• start(): This is executed once after you press the Startbutton on the Driver Station.

• loop(): While the opmode is running, this method isexecuted roughly every 25 milliseconds.

• stop(): Instructions to perform when the Stop button ispressed; e.g. set the power of all the motors to zero.

12

The life cycle of an OpMode

There are a number of methods you need to construct to definean OpMode.

• init(): Called once after Init is pressed.

• init loop(): Called every 25 milliseconds after Init ispressed.

• start(): This is executed once after you press the Startbutton on the Driver Station.

• loop(): While the opmode is running, this method isexecuted roughly every 25 milliseconds.

• stop(): Instructions to perform when the Stop button ispressed; e.g. set the power of all the motors to zero.

12

The life cycle of an OpMode

There are a number of methods you need to construct to definean OpMode.

• init(): Called once after Init is pressed.

• init loop(): Called every 25 milliseconds after Init ispressed.

• start(): This is executed once after you press the Startbutton on the Driver Station.

• loop(): While the opmode is running, this method isexecuted roughly every 25 milliseconds.

• stop(): Instructions to perform when the Stop button ispressed; e.g. set the power of all the motors to zero.

12

The life cycle of an OpMode

There are a number of methods you need to construct to definean OpMode.

• init(): Called once after Init is pressed.

• init loop(): Called every 25 milliseconds after Init ispressed.

• start(): This is executed once after you press the Startbutton on the Driver Station.

• loop(): While the opmode is running, this method isexecuted roughly every 25 milliseconds.

• stop(): Instructions to perform when the Stop button ispressed; e.g. set the power of all the motors to zero.

12

The life cycle of an OpMode

There are a number of methods you need to construct to definean OpMode.

• init(): Called once after Init is pressed.

• init loop(): Called every 25 milliseconds after Init ispressed.

• start(): This is executed once after you press the Startbutton on the Driver Station.

• loop(): While the opmode is running, this method isexecuted roughly every 25 milliseconds.

• stop(): Instructions to perform when the Stop button ispressed; e.g. set the power of all the motors to zero.

12

The life cycle of an OpMode

These are the methods you will mainly use:

• init(): Load the robot configuration into your code.DcMotor leftDrive =

hardwareMap.dcMotor.get(‘‘leftDrive’’);

• loop(): This is the main part of your code. You will listento sensors, determine how to respond, and set powerlevels to motors.

• stop(): Turn everything off.leftDrive.setPower(0);

13

The life cycle of an OpMode

These are the methods you will mainly use:

• init(): Load the robot configuration into your code.DcMotor leftDrive =

hardwareMap.dcMotor.get(‘‘leftDrive’’);

• loop(): This is the main part of your code. You will listento sensors, determine how to respond, and set powerlevels to motors.

• stop(): Turn everything off.leftDrive.setPower(0);

13

The life cycle of an OpMode

These are the methods you will mainly use:

• init(): Load the robot configuration into your code.DcMotor leftDrive =

hardwareMap.dcMotor.get(‘‘leftDrive’’);

• loop(): This is the main part of your code. You will listento sensors, determine how to respond, and set powerlevels to motors.

• stop(): Turn everything off.leftDrive.setPower(0);

13

LinearOpMode

You may want to write OpModes for autonomous operationusing LinearOpMode, which hides the event-driven modelenabling you to write sequentially executed code.

14

Resources

Resources:

• FTC resources:https://www.firstinspires.org/node/5291

• Github repository:https://github.com/ftctechnh/ftc app

• User’s manual:https://github.com/ftctechnh/ftc app/releases

• FTC Control System Wiki:https://github.com/ftctechnh/ftc app/wiki

• David Austin: david.austin.m@gmail.com

15

Resources

Resources:

• FTC resources:https://www.firstinspires.org/node/5291

• Github repository:https://github.com/ftctechnh/ftc app

• User’s manual:https://github.com/ftctechnh/ftc app/releases

• FTC Control System Wiki:https://github.com/ftctechnh/ftc app/wiki

• David Austin: david.austin.m@gmail.com

15

Resources

Resources:

• FTC resources:https://www.firstinspires.org/node/5291

• Github repository:https://github.com/ftctechnh/ftc app

• User’s manual:https://github.com/ftctechnh/ftc app/releases

• FTC Control System Wiki:https://github.com/ftctechnh/ftc app/wiki

• David Austin: david.austin.m@gmail.com

15

Resources

Resources:

• FTC resources:https://www.firstinspires.org/node/5291

• Github repository:https://github.com/ftctechnh/ftc app

• User’s manual:https://github.com/ftctechnh/ftc app/releases

• FTC Control System Wiki:https://github.com/ftctechnh/ftc app/wiki

• David Austin: david.austin.m@gmail.com

15

Resources

Resources:

• FTC resources:https://www.firstinspires.org/node/5291

• Github repository:https://github.com/ftctechnh/ftc app

• User’s manual:https://github.com/ftctechnh/ftc app/releases

• FTC Control System Wiki:https://github.com/ftctechnh/ftc app/wiki

• David Austin: david.austin.m@gmail.com

15