🇬🇷 AngelosBase 🤖

🤖 TankDrive Subsystem

Controls the wheels and driving of the robot. It includes speed adjustments and smooth motor physics.

⚙️ Settings (Variables at the top of TankDrive.java)

• TELEMETRY_ENABLED (boolean | Default: true): Shows drive information on the screen.

Motor Configuration

• LEFT_MOTOR_NAME / RIGHT_MOTOR_NAME (String): The names of the motors matching driver hub configuration.
• LEFT_MOTOR_DIRECTION / RIGHT_MOTOR_DIRECTION (Direction | Default: FORWARD): Change to REVERSE if you want to reverse a motor.
• MOTOR_ZERO_POWER_BEHAVIOR (ZeroPowerBehavior | Default: BRAKE): Stops the robot instantly when you let go of the stick. Use FLOAT if you want it to glide to a stop.

Note

• Usually one of the 2 motors of the Tank-Style Drivebase is reversed because it is in the mirror position on the robot.
• In most cases BRAKE is better for drivetrains.

FeedForward

Feedforward control calculates the required motor power beforehand based on physics and target speeds, correcting for factors like friction before errors even happen.

• LEFT_FEEDFORWARD / RIGHT_FEEDFORWARD (double[] | Default: {0.05, 1.0}): Physics settings {KS, KV}. KS helps push through gear friction. KV scales motor power to help both sides drive at matching speeds.
  • KS - Gives a small kick to overcome static friction at the start of movement (higher values give a more aggressive kickstart. Typical values are between 0.0 and 0.12.)
  • KV - KV is the linear motor power multiplier used to match left and right motor speeds. (typical values are around 0.95–1.05)
• KS_THETA (double | Default: 0.0): Extra power kick like KS but applied to turning

Note

• Experiment with KS values while the wheel is off the ground. The correct value is the one right before the motor moves. So let's say you play around with values like 0.03, 0.05. 0.06 and the wheel starts moving at 0.07. You should use a value of 0.06.
• Do the same for KS_THETA but with the robot on the floor. This compensates for the static friction of the robot while turning on its axis.

Power Mapping

The driver might sometimes need low speeds for accuracy or high speeds for time efficiency. While holding the trigger on the gamepad, the max speed changes linearly from DEFAULT_POWER to MAX_POWER.

• DEFAULT_POWER (double | Default: 0.6): Regular driving speed.
• MAX_POWER (double | Default: 1.0): Max driving speed (Turbo mode) when holding the trigger down completely.

Note

If you prefer not to use speed mapping set both DEFAULT_POWER and MAX_POWER to 1.0.

🚀 Sample Implementation (Sample_TankDrive)

package org.firstinspires.ftc.teamcode.AngelosBase.Samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.AngelosBase.Subsystems.TankDrive;
import org.firstinspires.ftc.teamcode.AngelosBase.Util.GamepadEx;

@Disabled // Remove this to see it on the Driver Station
@TeleOp(name="Sample_TankDrive", group="Samples")
public class Sample_TankDrive extends LinearOpMode {
    private GamepadEx controller;
    private TankDrive drivetrain;

    @Override
    public void runOpMode() {
        // 1. Initialize Gamepad Wrapper
        controller = new GamepadEx(gamepad1);

        // 2. Initialize Drivetrain using the "Functional Philosophy"
        // We map the sticks and triggers directly here.
        drivetrain = new TankDrive(
                hardwareMap,
                telemetry,
                controller::getLeftStickY,  // Forward/Backward (Inverted for FTC)
                controller::getRightStickX,  // Turning
                controller::getRightTrigger  // Acceleration/Turbo mapping
        );

        telemetry.addLine("Drivetrain Sample Initialized");
        telemetry.update();

        waitForStart();

        while (opModeIsActive() && !isStopRequested()) {
            // 3. The Core Loop
            controller.update(); // Update joystick/button values

            drivetrain.update(); // Calculations: Feedforward + Power Mapping

            telemetry.update();  // Send data to Driver Station / Dashboard
        }
    }
}

🌀 Active Intake Subsystem

Active Intake uses a constant spinning motion to intake game elements. Uses automated states (STOPPED, FORWARD, REVERSE) so you only need to tap a button once instead of holding it.

⚙️ Settings (Variables at the top of ActiveIntake.java)

• TELEMETRY_ENABLED (boolean | Default: true): Shows whether the intake is spinning forward, backward, or stopped.
• INTAKE_MOTOR_NAME (String | Default: "intake"): The name of the intake motor in your configuration list.
• FORWARD_VELOCITY (double | Default: 1.0): Spinning power when pulling objects in.
• REVERSE_VELOCITY (double | Default: -1.0): Spinning power when ejecting objects or clearing jams.
• INTAKE_DIRECTION (Direction | Default: FORWARD): Reverses the rotation direction of the intake motor.
• INTAKE_ZERO_POWER_BEHAVIOR (ZeroPowerBehavior | Default: BRAKE): Locks the motor immediately when turned off to keep elements from rolling out.

🚀 Sample Implementation (Sample_ActiveIntake)

package org.firstinspires.ftc.teamcode.AngelosBase.Samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.AngelosBase.Subsystems.ActiveIntake;
import org.firstinspires.ftc.teamcode.AngelosBase.Util.GamepadEx;

@Disabled // Remove this to see it on the Driver Station
@TeleOp(name="Sample_ActiveIntake", group="Samples")
public class Sample_ActiveIntake extends LinearOpMode {
    private GamepadEx controller;
    private ActiveIntake intake;

    @Override
    public void runOpMode() {
        // Initialize Gamepad Wrapper
        controller = new GamepadEx(gamepad1);

        // Initialize Intake
        // Mapping:
        // A -> Forward (Intake)
        // B -> Stop
        // X -> Reverse (Outtake)
        intake = new ActiveIntake(
                hardwareMap,
                telemetry,
                () -> controller.justPressed(GamepadEx.Button.A),      // forwardButton supplier
                () -> controller.justPressed(GamepadEx.Button.B),      // stopButton supplier
                () -> controller.justPressed(GamepadEx.Button.Y)       // reverseButton supplier
        );

        telemetry.addLine("Intake Sample Initialized");
        telemetry.update();

        waitForStart();

        while (opModeIsActive() && !isStopRequested()) {
            controller.update(); // Refresh button states

            intake.update();     // Runs the state logic and sets motor power

            telemetry.update();  // Sends [Intake] State to the driver hub
        }
    }
}

⏱️ Timer Utility

A simple helper that tracks how much time has passed. It helps you build timing sequences without blocking your entire robot program (never use sleep() inside active driver loops).

🛠️ Functions

• resetTimer(): Starts the clock from zero right now.
• getCurTimeSecs(): Returns how many seconds have passed since your last reset (e.g. 2.54 seconds).
• getCurTime(): Gives the elapsed time in raw milliseconds.

🚀 Sample Implementation (Sample_Timer)

package org.firstinspires.ftc.teamcode.AngelosBase.Samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

import org.firstinspires.ftc.teamcode.AngelosBase.Util.GamepadEx;
import org.firstinspires.ftc.teamcode.AngelosBase.Util.Timer;

@Disabled
@TeleOp(name="Sample_Timer", group="Samples")
public class Sample_Timer extends LinearOpMode {
    private GamepadEx controller;
    private Timer timer;

    @Override
    public void runOpMode() {
        // 1. Initialize Utilities
        controller = new GamepadEx(gamepad1);
        timer = new Timer();

        telemetry.addLine("Timer Sample Initialized");
        telemetry.addLine("Press A to Reset | Check Status at 5s");
        telemetry.update();

        waitForStart();

        while (opModeIsActive() && !isStopRequested()) {
            // 2. Refresh Inputs
            controller.update();

            // 3. Timer Reset Logic
            // Using justPressed ensures the timer resets exactly once per click
            if (controller.justPressed(GamepadEx.Button.A)) {
                timer.resetTimer();
            }

            // 4. Time-Based Logic
            double elapsed = timer.getCurTimeSecs();
            boolean isExpired = elapsed > 5.0;

            // 5. Telemetry Feedback
            telemetry.addData("Status", isExpired ? "!!! 5 SECONDS UP !!!" : "Counting...");
            telemetry.addData("Elapsed Time", "%.2f seconds", elapsed);

            telemetry.update();
        }
    }
}