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
OpModeServices	internalOpModeServices this is logically an internal field.
int	msStuckDetectInit
int	msStuckDetectInitLoop
int	msStuckDetectLoop
int	msStuckDetectStart
int	msStuckDetectStop
Telemetry	telemetry The telemetry field contains an object in which a user may accumulate data which is to be transmitted to the driver station.
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

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
void	internalPostInitLoop() automatically update telemetry in a non-linear opmode
void	internalPostLoop() automatically update telemetry in a non-linear opmode
void	internalPreInit()
void	internalUpdateTelemetryNow(TelemetryMessage telemetry) This is an internal SDK method, not intended for use by user opmodes.
abstract void	loop() User defined loop method
void	requestOpModeStop() Requests that this OpMode be shut down if it the currently active opMode, much as if the stop button had been pressed on the driver station; if this is not the currently active OpMode, then this function has no effect.
void	resetStartTime() Reset the start time to zero.
void	start() User defined start method.
void	stop() User defined stop method
void	updateTelemetry(Telemetry telemetry) Refreshes the user's telemetry on the driver station with the contents of the provided telemetry object if a nominal amount of time has passed since the last telemetry transmission.

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

The telemetry field contains an object in which a user may accumulate data which is to be transmitted to the driver station. This data is automatically transmitted to the driver station on a regular, periodic basis.

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.

msStuckDetectInit

public int msStuckDetectInit

msStuckDetectInitLoop

public int msStuckDetectInitLoop

msStuckDetectStart

public int msStuckDetectStart

msStuckDetectLoop

public int msStuckDetectLoop

msStuckDetectStop

public int msStuckDetectStop

internalOpModeServices

public OpModeServices internalOpModeServices

this is logically an internal field. DO NOT USE

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.

requestOpModeStop

public final void requestOpModeStop()

Requests that this OpMode be shut down if it the currently active opMode, much as if the stop button had been pressed on the driver station; if this is not the currently active OpMode, then this function has no effect. Note as part of this processing, the OpMode's stop() method will be called, as that is part of the usual shutdown logic. Note that requestOpModeStop() may be called from any thread.

See Also:

stop()

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.

updateTelemetry

public void updateTelemetry(Telemetry telemetry)

Refreshes the user's telemetry on the driver station with the contents of the provided telemetry object if a nominal amount of time has passed since the last telemetry transmission. Once transmitted, the contents of the telemetry object are (by default) cleared.

Parameters:

telemetry - the telemetry data to transmit

See Also:

telemetry, Telemetry.update()

internalPreInit

public void internalPreInit()

internalPostInitLoop

public void internalPostInitLoop()

automatically update telemetry in a non-linear opmode

internalPostLoop

public void internalPostLoop()

automatically update telemetry in a non-linear opmode

internalUpdateTelemetryNow

public final void internalUpdateTelemetryNow(TelemetryMessage telemetry)

This is an internal SDK method, not intended for use by user opmodes.

Parameters:

telemetry - the telemetry data to transmit

See Also:

telemetry, Telemetry.update()