Writing TeleOp OpModes

TeleOp OpModes are where you define the driver-controlled period of your robot. CoreControl simplifies this by handling module lifecycle and providing a clean structure.

Basic Structure

To create a TeleOp OpMode, extend CoreTeleOp.

Kotlin

@TeleOp(name = "My TeleOp")
class MyTeleOp : CoreTeleOp(
    // Register modules here!
    Drivetrain,
    Intake,
    Lift
) {
    // Define buttons
    val grabButton = Button { gamepad1.a }
    val shootButton = Button { gamepad1.b }

    override fun onMainLoop() {
        // This runs repeatedly while the OpMode is active

        // Use button states
        if (grabButton.pressed) {
            Intake.toggleClaw()
        }

        if (shootButton.held) {
            Outtake.shoot()
        } else {
            Outtake.stop()
        }

        // Drive control
        Drivetrain.drive(gamepad1.left_stick_y, gamepad1.left_stick_x, gamepad1.right_stick_x)
    }
}

Java

@TeleOp(name = "My TeleOp")
public class MyTeleOp extends CoreTeleOp {

    // Define buttons
    Button grabButton = new Button(() -> gamepad1.a);
    Button shootButton = new Button(() -> gamepad1.b);

    public MyTeleOp() {
        super(
            // Register modules here!
            Drivetrain.INSTANCE,
            Intake.INSTANCE,
            Lift.INSTANCE
        );
    }

    @Override
    public void onMainLoop() {
        // This runs repeatedly while the OpMode is active

        // Use button states
        if (grabButton.getPressed()) {
            Intake.INSTANCE.toggleClaw();
        }

        if (shootButton.getHeld()) {
            Outtake.INSTANCE.shoot();
        } else {
            Outtake.INSTANCE.stop();
        }

        // Drive control
        Drivetrain.INSTANCE.drive(gamepad1.left_stick_y, gamepad1.left_stick_x, gamepad1.right_stick_x);
    }
}

Key Concepts

1. Module Registration: Pass your modules to the CoreTeleOp constructor. This ensures their onInit, onStart, and onMainLoop methods are called automatically.
2. Button Handling: Use Button and AnalogButton classes to handle gamepad input cleanly.
3. Loop Logic: Put your main control logic inside onMainLoop. This method is called repeatedly by the OpMode.