Poth Robotics Code Repository - PiRate Brigade Team #15758

This repository contains custom FIRST Tech Challenge (FTC) robot control code written for the org.firstinspires.ftc.teamcode package. It includes:

• A timed Autonomous OpMode (ChickenAuto)
• A tank‑drive TeleOp OpMode (TankDrive_TeleOp)
• The FTC SDK iterative OpMode base class (OpMode.java) for reference

The code is designed for use with the standard FTC SDK and REV Robotics Control Hub/Expansion Hub hardware.

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Repository Structure

teamcode/
│
├── chicken.java        # Autonomous OpMode
├── Silver.java         # TeleOp OpMode (Tank Drive)
└── OpMode.java         # FTC SDK iterative OpMode base class (reference only)

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Autonomous Mode --- ChickenAuto

chicken.java implements a simple timed autonomous routine named ChickenAuto.

Features

• Four‑motor tank‑drive configuration
• Shooter motors included for safety shutdown
• Drive motors use BRAKE zero‑power behavior
• Shooter motors use FLOAT zero‑power behavior
• Helper methods for clean power control:
  • setDrivePower(left, right)
  • stopAll()

Behavior Summary

1. Hardware is mapped and configured
2. All motors are stopped for safety
3. Robot drives forward at 40% power for approximately two seconds
4. Robot stops and reports status through telemetry

This OpMode is intended for basic autonomous movement and early testing.

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TeleOp Mode --- TankDrive_TeleOp

Silver.java implements a tank‑drive TeleOp with ramping, deadzones, slow mode, and shooter/servo controls.

Drive System

• Tank drive
  • Left stick controls left motors
  • Right stick controls right motors
• Deadzone filtering to prevent drift
• Slow mode (left bumper) limiting power to 40 percent
• Ramp smoothing to prevent sudden changes in motor power
• Adjustable tuning constants for maximum power, slow mode, deadzone, and ramp rate

Shooter System

• Two shooter motors (DcMotorEx)
• Controlled by gamepad triggers:
  • Left trigger activates the primary shooter motor in reverse
  • Right trigger activates the hex shooter motor forward

Servo Control

• Standard servo used as a continuous‑motion mechanism
• Button‑based control:
  • X sets reverse position
  • B sets forward position
  • Default position is 0.5 (stop)

Telemetry Output

• Runtime
• Left and right drive power
• Slow mode status
• Shooter motor power levels
• Servo position

This OpMode is designed for smooth, predictable driver control with safety and consistency in mind.

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FTC SDK Base Class --- OpMode.java

Included for reference, this file is the FTC SDK's iterative OpMode base class. It defines:

• Lifecycle methods (init, init_loop, start, loop, stop)
• Gamepad update handling
• Telemetry update behavior
• Runtime tracking
• Internal safety and threading behavior

Your TeleOp (Silver.java) extends this class, while your Autonomous OpMode (chicken.java) extends LinearOpMode.

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Hardware Configuration

The following configuration names must match the FTC Robot Controller configuration:

Component	Configuration Name
Left Front Drive Motor	left_front_drive
Left Back Drive Motor	left_back_drive
Right Front Drive Motor	right_front_drive
Right Back Drive Motor	right_back_drive
Shooter Motor	shooter_motor
Shooter Hex Motor	shooter_hex_motor
Servo	servo

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Getting Started

1. Place these files in your FTC SDK project under:
   TeamCode/src/main/java/org/firstinspires/ftc/teamcode/
2. Open the project in Android Studio
3. Build and deploy to the Control Hub or Robot Controller phone
4. Select:
   • ChickenAuto under Autonomous
   • TankDrive_TeleOp under TeleOp

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Authors

• Derrick Richard
• Emma Aldrige

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License

Liscensed under the MIT License