Full Beginner LinearOpMode Example

Introduction: This full example combines telemetry, gamepad input, one DC motor, and one servo into a single TeleOp program.

Basic theory: The typical control loop is: initialize hardware, wait for start, read inputs, command actuators, then publish telemetry every cycle.

        // This is the full example code for a beginner LinearOpMode.
        import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
        import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
        import com.qualcomm.robotcore.hardware.DcMotor;
        import com.qualcomm.robotcore.hardware.Servo;
        
        /**
         * This is a basic TeleOp OpMode used for FTC training.
         * It demonstrates the fundamental structure of a LinearOpMode, including:
         * - Hardware declaration and initialization
         * - The main OpMode loop
         * - Basic control logic using gamepad inputs for a motor and a servo
         * - Real-time feedback using telemetry
         */
        @TeleOp(name = "Basic FTC Training")
        public class BasicFtcTraining extends LinearOpMode {
        
            // --- Hardware Declarations ---
            // These variables will hold references to the actual hardware devices on the robot.
            private DcMotor armMotor;
            private Servo clawServo;
        
            @Override
            public void runOpMode() {
                // --- Initialization Phase ---
                // This code runs when the "INIT" button is pressed on the Driver Hub.
        
                // Initialize hardware by looking them up in the configuration.
                // The strings "armMotor" and "clawServo" must match the names in your robot configuration file.
                armMotor = hardwareMap.get(DcMotor.class, "armMotor");
                clawServo = hardwareMap.get(Servo.class, "clawServo");
        
                // Set the motor's initial behavior. 
                // For example, we ensure it stops and resets its internal encoder if needed.
                armMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
                armMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        
                // Send a status message to the Driver Hub to confirm initialization.
                telemetry.addData("Status", "Initialized");
                telemetry.addData("Hint", "Press Play to start");
                telemetry.update();
        
                // The OpMode pauses here until the "PLAY" button is pressed.
                waitForStart();
        
                // --- Run Phase ---
                // This code runs in a loop after the "PLAY" button is pressed until "STOP" is pressed.
                while (opModeIsActive()) {
        
                    // --- Arm Motor Control ---
                    // We use the left joystick Y-axis to control the arm motor power.
                    // Pushing the stick up usually gives a negative value, so we negate it for intuitive control.
                    double armPower = -gamepad1.left_stick_y;
        
                    // We use Math.max and Math.min to "clamp" the power between -0.8 and 0.8.
                    // This is a safety measure to prevent the arm from moving too violently.
                    armPower = Math.max(-0.8, Math.min(0.8, armPower));
        
                    // Apply the calculated power to the motor.
                    armMotor.setPower(armPower);
        
        
                    // --- Claw Servo Control ---
                    // We use discrete buttons for simple, repeatable actions like opening or closing a claw.
                    if (gamepad1.a) {
                        // Set the servo to its maximum position (e.g., OPEN)
                        clawServo.setPosition(1.0);
                    } else if (gamepad1.b) {
                        // Set the servo to its minimum position (e.g., CLOSED)
                        clawServo.setPosition(0.0);
                    }
        
        
                    // --- Telemetry ---
                    // Telemetry allows the robot to "talk" to the driver. This is crucial for debugging.
                    telemetry.addData("Arm Power", "%.2f", armPower);
                    telemetry.addData("Claw Position", "%.2f", clawServo.getPosition());
                    telemetry.addData("A Button", gamepad1.a);
                    telemetry.addData("B Button", gamepad1.b);
                    
                    // telemetry.update() must be called to send the accumulated data to the Driver Hub.
                    telemetry.update();
                }
            }
        }
        
}