com.qualcomm.robotcore.eventloop.opmode

Class OpMode

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

Direct Known Subclasses:

LinearOpMode

public abstract class OpMode
extends java.lang.Object

Base class for user defined operation modes (op modes).

Field Summary

Fields

Modifier and Type	Field and Description
Gamepad	gamepad1 Gamepad 1
Gamepad	gamepad2 Gamepad 2
HardwareMap	hardwareMap Hardware Mappings
Telemetry	telemetry Telemetry Data
double	time number of seconds this op mode has been running, this is updated before every call to loop.

Constructor Summary

Constructors

Constructor and Description
OpMode() OpMode constructor

Method Summary

Methods

Modifier and Type	Method and Description
double	getRuntime() Get the number of seconds this op mode has been running
void	init_loop() User defined init_loop method
abstract void	init() User defined init method
abstract void	loop() User defined loop method
void	resetStartTime() Reset the start time to zero.
void	start() User defined start method.
void	stop() User defined stop method

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

gamepad1

public Gamepad gamepad1

Gamepad 1

gamepad2

public Gamepad gamepad2

Gamepad 2

telemetry

public Telemetry telemetry

Telemetry Data

hardwareMap

public HardwareMap hardwareMap

Hardware Mappings

time

public double time

number of seconds this op mode has been running, this is updated before every call to loop.

Constructor Detail

OpMode

public OpMode()

OpMode constructor

The op mode name should be unique. It will be the name displayed on the driver station. If multiple op modes have the same name, only one will be available.

Method Detail

init

public abstract void init()

User defined init method

This method will be called once when the INIT button is pressed.

init_loop

public void init_loop()

User defined init_loop method

This method will be called repeatedly when the INIT button is pressed. This method is optional. By default this method takes no action.

start

public void start()

User defined start method.

This method will be called once when the PLAY button is first pressed. This method is optional. By default this method takes not action. Example usage: Starting another thread.

loop

public abstract void loop()

User defined loop method

This method will be called repeatedly in a loop while this op mode is running

stop

public void stop()

User defined stop method

This method will be called when this op mode is first disabled The stop method is optional. By default this method takes no action.

getRuntime

public double getRuntime()

Get the number of seconds this op mode has been running

This method has sub millisecond accuracy.

Returns:

number of seconds this op mode has been running

resetStartTime

public void resetStartTime()

Reset the start time to zero.