Structrue

Route:

FtcRobotController\TeamCode\src\main\java\org\firstinspires\ftc\teamcode

The structure of our code

teamcode
├─common
│  │  Globals.java
│  │  Robot.java
│  ├─command
│  │      Command.java
│  ├─drive
│  │      Drivetrain.java
│  ├─hardware
│  │      GamepadEx.java
│  ├─subsystem
│  │      Subsystem.java
│  ├─util
│  │      Alliance.java
│  │      OpModeState.java
│  └─vision
│      │  Vision.java
│      └─pipeline
└─opmode
    ├─auto
    │      Auto.java
    └─teleop
            Duo.java
            Solo.java

Introducion

Globals.java

This file contains some constants used in the programme, which must be adjusted according to your machine before being used.

Robot.java

This document is the unified entrance for all modules and integrates the content of each section.

Drivetrain.java

This file contains the code for the movement of the robot and applies to the movement of the machine as a whole.

GamepadEx.java

This file contains extensions to the FTC SDK for joystick detection, simplifying the programming of joysticks.

Subsystem.java

This document is a unified entrance for all subsystem modules and integrates the content of each subsystem.

Command.java

This file contains functions that are implemented by multiple subsystems together, and a series of specific actions for each subsystem are intergrated here. For example, a sequence of actions such as releasing the claw, raising the arm and then retracting the arm.

Auto.java

This file is the code for the auto phase.

Duo.java

This file is the code for two-player teleop.

Solo.java

This file is the code for single-player teleop.