Explains how the various stages of a LinearOpMode are equivalent to the various functions provided by OpMode
This program has been verified to work using virtual_robot.
Last updated 7-31-23This example TeleOp demonstrates how the various stages of running a LinearOpMode are equivalent to the functions provided by OpMode. This might help you transition between the two.
This program simply writes telemetry log messages to state where it is in the program. Doing only one operation keeps the program small. Also, no, you do not have to call telemetry.update() to send log messages.
package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.Telemetry;
@TeleOp(name="OpModeEquivalent", group="Tutorial")
public class OpModeEquivalent extends LinearOpMode {
Telemetry.Log log = telemetry.log();
@Override
public void runOpMode() {
//This section equivalent to init()
log.setCapacity(5);
log.add("init()");
while (!opModeIsActive()) {
//This section equivalent to init_loop() (not commonly used in LinearOpModes)
log.add("Looped in init_loop()");
}
//This section equivalent to start()
log.add("start()");
while (opModeIsActive()) {
//This section equivalent to loop()
log.add("Looped in loop()");
telemetry.update(); //OpMode does this for you
}
//This section equivalent to stop()
log.add("Stopped");
}
}
The comments mostly explain things, so you may not need to read this. It does provide some additional information if you need it.
public class OpModeEquivalent extends LinearOpMode {
Telemetry.Log log = telemetry.log();
This is the very start of the class. This would be even before init() is called in OpMode. The Telemetry object provided by LinearOpMode contains a Telemetry.Log object, and we can call add() on that object to add a message to the log. This is why we are storing the log object for later use.
@Override
public void runOpMode() {
//This section equivalent to init()
log.setCapacity(5);
log.add("init()");
The only initialization step for our program is to set the capacity of the log. This is also where you would get your HardwareDevices from the HardwareMap, set the directions of motors, or other such things. If you extended OpMode, then this would go inside the init() function.
while (!opModeIsActive()) {
//This section equivalent to init_loop() (not commonly used in LinearOpModes)
log.add("Looped in init_loop()");
}
This is how you could replicate OpMode's init_loop() in LinearOpMode. We simply use a while loop which runs as long as the OpMode is not yet active (it only becomes active once Start is pressed). This also replicates the function of the waitForStart() method, as this is already waiting for the start of the OpMode, so we do not need to call waitForStart() in this case.
//This section equivalent to start()
log.add("start()");
This is the space between our init_loop() replacement and the while (opModeIsActive()) loop. This code will run once when Start is pressed, making it equivalent to OpMode's start() method.
while (opModeIsActive()) {
//This section equivalent to loop()
log.add("Looped in loop()");
}
This loop is a common sight in LinearOpModes. This is how the program repeats continually until it needs to stop. This is equivalent to OpMode's loop() method.
//This section equivalent to stop()
log.add("Stopped");
This is simply the space right after the while (opModeIsActive()) loop. When the OpMode is stopped, opModeIsActive() will become false, causing the loop to exit. The program will then continue on a bit longer and run the code after the loop. This is equivalent to OpMode's stop() method.