1. FTC New Platform Programming Workshop in Android Studio
A Presentation by FTC Team 6022
Rockwell Automation Kickoff
September 12th, 2015

2. What’s New? Android-Based Control Platform with Cell Phones
Replaces NXT/Samantha Control System
Robot Controller Phone is Mounted to Robot and Connected to Core Module
Driver Station Phone Connects to Two Joysticks
Utilizes Wi-Fi Direct Technology
Replaces Central FCS
Utilizes “Sports Start” to Begin Match Play
Controllers are USB-Based
Replaces I2C Protocol for Sensors and Controllers

3. What’s New?
Robot is Programmed through Android App Development in Java
Uses Android Studio, a Full Android IDE (Integrated Development Environment)
MIT App Inventor is Available as a “Scratch-Like” and “Drag-and-Drop” Interface
Java Information
Object-Oriented Language
Programmed through Editing Instances of the OpMode() Class
Will Be Discussed In-Detail Later…

4. Android Studio Setup (Should Be Completed)
Android Studio IDE
FTC Robot App Template (GitHub)
Project Configuration
Requires SDK Version 19 (KitKat)

5. Types of Operation Modes
Looping Op Mode
Linear Op Mode
Defined as a Class
Motors, Sensors, Etc. are Referenced as Attributes in the Class
The “init()” Method Runs One Time
The “loop()” Method Runs Continuously Until Stop
Defined as a Class
Motors, Sensors, Etc. are Referenced as Attributes in the Class
The “runOpMode()” Method Runs One Time

6. Defining and Using Motors
Description of Process
Code Syntax as an Example Op Class
First, we must create a variable to reference an instance of a motor object.
Second, we must reference the robot hardware map.
Third, we can set the power of the motor. Powers are a value between 0 and 1.
public DcMotor public void init() { testMotor = hardwareMap.dcMotor.get(“nameHere”); } public void loop() { testMotor.setPower(0.75);

7. Defining and Using The Joystick
Description of Process
Code Syntax as an Example Op Class
This code assumes that we have already defined a motor as described in the previous slide.
The joysticks are already inherited into the op mode classes as gampad1 and gamepad2.
In the code to the right, the loop reads the y-axis of the leftmost analog stick on joystick 1 to allow a user to drive the motor.
public DcMotor public void init() { testMotor = hardwareMap.dcMotor.get(“nameHere”); } public void loop() { testMotor.setPower(gamepad1.left_stick_y);

8. Other Useful Things Telemetry Data Sensors
Allows for Robot Data to be Displayed on Driver Station
Example: telemetry.addData(“Title”, “Detail/Value”);
Sensors
SDK Includes Many ModernRobotics and Lego Sensor Classes and Objects
Example: public TouchSensor button;
button = hardwareMap.touchSensor.get(”sensorName”);
telemetry.addData(“Button/Touch”, button.isPressed());

9. Where to Find More Information
The SDK provides Javadocs that outlines how to interact with different methods, classes, and objects. Javadocs can be found in the “doc” folder of the SDK.
Read through example op mode classes in order to get a feel for the code flow and see different uses of programming techniques.

10. Challenge #1 Read Axis Values from a Joystick
Set Motor to Joystick Values to Create a Basic Teleop Mode

11. Challenge #2 Drive Forwards for 2.5 Seconds Wait 1 Second
Drive Backwards for 2.5 Seconds

12. Challenge #3 Drive Forwards until Touch Sensor Pressed
Drive Backwards for 2 Seconds