Writing Auto OpModes

Autonomous OpModes in CoreControl are structured around two main commands: an initCommand (runs during initialization) and a startCommand (runs when the match starts). This structure encourages a clean, command-based approach to autonomous programming.

Basic Structure

To create an Autonomous OpMode, extend CoreAuto.

Kotlin

@Autonomous(name = "Red Auto")
class RedAuto : CoreAuto(
    // Register modules
    modules = arrayOf(Drivetrain, Intake, Lift),

    // Command to run during initialization
    initCommand = instant {
        Lift.resetEncoders()
        Intake.closeClaw()
    },

    // Command to run when the match starts
    startCommand = sequentially(
        // Drive to position
        DriveToPosition(10.0, 0.0),
        // Score pixel
        Lift.goToPosition(1000),
        Intake.openClaw(),
        wait(0.5),
        Lift.goToPosition(0),
        // Park
        DriveToPosition(0.0, 24.0)
    )
)

Java

@Autonomous(name = "Red Auto")
public class RedAuto extends CoreAuto {

    public RedAuto() {
        super(
            // Register modules
            new CoreModule[]{Drivetrain.INSTANCE, Intake.INSTANCE, Lift.INSTANCE},

            // Command to run during initialization
            new InstantCommand(() -> {
                Lift.INSTANCE.resetEncoders();
                Intake.INSTANCE.closeClaw();
            }),

            // Command to run when the match starts
            sequentially(
                // Drive to position
                new DriveToPosition(10.0, 0.0),
                // Score pixel
                Lift.INSTANCE.goToPosition(1000),
                Intake.INSTANCE.openClaw(),
                wait(0.5),
                Lift.INSTANCE.goToPosition(0),
                // Park
                new DriveToPosition(0.0, 24.0)
            )
        );
    }
}

Key Concepts

1. Init Command: Use initCommand to perform setup tasks like resetting encoders, closing claws, or initializing vision pipelines. This command runs once when you press INIT.
2. Start Command: Use startCommand to define your main autonomous sequence. This command runs once when you press PLAY.
3. Command Groups: Use sequentially, inParallel, and racing to combine simple commands into complex behaviors.
4. No Loop Logic: Unlike TeleOp, you generally do not need to override onMainLoop in CoreAuto. The command scheduler handles everything for you.