Change autonomous to implement AutonomousBase

This change allows AutonomousBase to be implemented thus creating
a much easier to use API. This change will make it much easier to
deal with all the potential changes for the 2018-2019 season becase
user code will not have to change

Author: EMH333

Autonomous/AutonomousBase.java

@@ -1,7 +1,7 @@
 package org.firstinspires.ftc.teamcode.FTC_API.Autonomous;
 
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.HardwareMap;
-import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.FTC_API.Autonomous.Modules.Module;
 import org.firstinspires.ftc.teamcode.FTC_API.Robot.RobotBase;
 
@@ -11,9 +11,8 @@
  * Base autonomous class that manages modules and running them on time
  */
 
-public class AutonomousBase {
+abstract public class AutonomousBase extends OpMode{
     public RobotBase robot;
-    private Telemetry telemetry = null;
     private Module[][] steps;
     private int currentStep = 0;//zero indexed
     private int currentPosition = 0;
@@ -22,7 +21,7 @@ public class AutonomousBase {
 
     private boolean isFirstLoop = true;
 
-    public void init(HardwareMap map, RobotBase robot, Module[][] steps) {
+    protected void init(HardwareMap map, RobotBase robot, Module[][] steps) {
         robot.init(map);//starts and initializes the robot
         robot.start();
         this.steps = steps;
@@ -31,7 +30,10 @@ public void init(HardwareMap map, RobotBase robot, Module[][] steps) {
         this.robot = robot;
     }
 
+    abstract public void init();
+
     public void loop() {
+        tick();//run user code
         robot.tick();//ticks the robot automatically
 
         if (!isDone) {
@@ -67,13 +69,12 @@ public void loop() {
         }
     }
 
-    public RobotBase getRobot() {
-        return robot;
-    }
+    //can be overridden by the user to do stuff every loop
+    public void tick(){
 
-    public AutonomousBase setTelemetry(Telemetry telemetry) {
-        this.telemetry = telemetry;
-        return this;
     }
 
+    public RobotBase getRobot() {
+        return robot;
+    }
 }

Examples/SimpleAutonomous.java

@@ -2,8 +2,6 @@
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
 import org.firstinspires.ftc.teamcode.FTC_API.Autonomous.AutonomousBase;
 import org.firstinspires.ftc.teamcode.FTC_API.Autonomous.Modules.CallFunction;
 import org.firstinspires.ftc.teamcode.FTC_API.Autonomous.Modules.Module;
@@ -14,8 +12,7 @@
  */
 @Disabled
 @Autonomous(name = "Simple Autonomous")
-public class SimpleAutonomous extends OpMode {
-    private AutonomousBase auto = new AutonomousBase();
+public class SimpleAutonomous extends AutonomousBase {
     private SimpleRobot bot = new SimpleRobot();
     private final Module[][] steps = new Module[][]{
             {new DriveTime().setSpeeds(1, 1).setTime(2000)},
@@ -30,13 +27,11 @@ public class SimpleAutonomous extends OpMode {
 
     @Override
     public void init() {
-        auto.init(hardwareMap, bot, steps);
+        init(hardwareMap, bot, steps);
     }
 
     @Override
-    public void loop() {
-        auto.loop();
-
-        telemetry.addData("Test", bot.drive.leftMotor.getPower());//Add telemetry
+    public void tick(){
+        telemetry.addLine("Wow this works!");
     }
 }