What is this repo?

This repository is meant to be a space for programmers to work on code and experiment with using the Greenland Robotics Framework without having to worry about breaking or cluttering up their competition repo. I recommend using this repo to play with the basic robots that you have and learn things before the robot is built.

Greenland Robotics Framework: Documentation

Notes

• If you are using the PlayStation controllers, use the button map below

  PlayStation	Gamepad(in code)
  X	A
  O	B
  △	Y
  □	X

• In TeleOp, the following buttons are in use by the implementDriveLogic() method(gamepad1 only)
  • left_stick_x
  • left_stick_y
  • right_stick_x
  • right_bumper
  • left_trigger
  • right_trigger
    by using these in your teleop code, that one action will control both the driving and whatever you mapped it to

Method Documentation

This documentation covers all classes and methods in TeamCode/src/main/java/gcsrobotics/framework for the GreenlandRoboticsFramework.
It includes explanations for:

• What each method does
• How and why to use them
• Common usage scenarios

---

Table of Contents

• AutoBase
• Constants
• DcMotorEnhanced
• GoBildaPinpointDriver
• OpModeBase
• TeleOpBase

---

AutoBase

Purpose:
AutoBase is an abstract class for autonomous robot operation modes.
It extends OpModeBase, providing accurate movement utilities and control structures for writing robust autonomous routines.

Common Usage

• Extend AutoBase in your own autonomous OpMode.
• Override initSequence() (optional) for initialization logic.
• Override runSequence() for your autonomous sequence.
• Use movement methods like path(), chain(), simpleDrive().

Key Methods

protected void initSequence()

Override to add code you want to run in the init phase.

protected abstract void runSequence()

Override to define the autonomous actions (your main logic).

protected void simpleDrive(Axis direction, double power, int time)

Moves the robot simply in the specified direction ("vertical" or "horizontal") at a set power for a duration.

• Use: For short, direct movements (e.g., nudging into position).
• Example: simpleDrive(Axis.X, 0.5, 1000);

protected void setPowers(double power)

Sets all drive motors to the same power.

• Use: To move all wheels together, usually straight.

protected void wait(int milliseconds)

Pauses execution for a number of milliseconds, updating odometry and telemetry.

• Use: Preferable to sleep() in FTC, as it keeps robot feedback alive during the wait.

protected void path(int targetX, int targetY, Axis forgiveAxis = Axis.NONE)

Accurate movement to a coordinate (targetX, targetY) with optional axis forgiveness.

• Use: For precise autonomous positioning.
• forgiveAxis: Axis.X or 'Axis.Y' if you want to ignore error on that axis (e.g., just get close horizontally).

protected void chain(int targetX, int targetY, char forgiveAxis = ' ')

Fast movement to a coordinate (less accurate than path).

• Use: When speed is more important than precision.

protected void waitUntil(@NonNull Supplier<Boolean> condition)

Waits until a given condition is true.

• Use: For waiting on asynchronous events or sensor thresholds.

Private Utility Methods

You don't need to worry about these, they are internal

• pidDrivePower(double error, boolean isX)
  Calculates PID-like drive power for pathing routines.
• setMotorPowers(double xPower, double yPower, double headingCorrection)
  Sets individual wheel powers for advanced movement.
• sendTelemetry(String label, ...) Sends detailed telemetry for debugging pathing.
• stopMotors() Stops all drive motors.
• notStuck(double targetX, double targetY) Detects if the robot is stuck (not making progress).
• getX(), getY(), getAngle() Return current robot position/heading from odometry.

---

Constants

Purpose:
Central location for tunable constants (motor positions, PID values, setpoints, etc).

Key Fields

Example fields that many teams may use, feel free to delete them if they are unnecessary

• clawClose, clawOpen: Servo positions for the claw.
• armUp, armMiddle, armDown: Encoder positions for arm levels.
• wristUp, wristDown: Servo positions for wrist.
  
  These fields are required, and are needed for basic functions. Do NOT delete these.
• ENCODER_TOLERANCE: How close an encoder must be to target to count as "there".
• KpDrive, KdDrive, KpTurn, KdTurn: PID coefficients for drive and turn control.
• autoMaxPower: Max drive power for autonomous.
• All constants are static and can be tuned live with FTC Dashboard.

---

DcMotorEnhanced

Purpose:
A wrapper around FTC's DcMotor providing easier position control, power management, and utility operations.

Constructors

• public DcMotorEnhanced(DcMotor motor)

Key Methods

Position Control

• setPosAndWait(int targetPosition, OpModeBase opmode)
  • Moves to a position at default speed, waits until there.
• setPosAndWait(int targetPosition, double speed, OpModeBase opmode)
  • Moves to a position at given speed, waits until there.
• setPosition(int targetPosition)
  • Go to position at default speed (doesn’t wait).
• setPosition(int targetPosition, double speed)
  • Go to position at specified speed.

Speed & Power

• setDefaultSpeed(double speed), getDefaultSpeed()
• setPower(double power), getPower()

Encoder & State

• reset()
  Resets encoder, restoring previous mode.
• isAtTarget()
  Returns true if within ENCODER_TOLERANCE of target.
• getCurrentPosition()
• isBusy()

Run Modes & Directions

• setMode(DcMotor.RunMode mode), getMode()
• setZeroPowerBehavior(DcMotor.ZeroPowerBehavior behavior), getZeroPowerBehavior()
• setDirection(DcMotorSimple.Direction direction), getDirection()

Base Access

• getBaseMotor()
  Returns the raw underlying DcMotor.

---

GoBildaPinpointDriver

Purpose:
Driver for the goBILDA® Pinpoint Odometry Computer.
Handles communication, configuration, and reading robot pose/velocity.

Instantiation

• Constructed by FTC SDK’s hardwareMap (hardwareMap.get(GoBildaPinpointDriver.class,"odo")).

Key Methods

Data Update

• update()
  • Reads all odometry data (should be called each loop).
• update(ReadData data)
  • Reads only the heading (for performance).

Offsets & Encoder Setup

• setOffsets(double xOffset, double yOffset)
  • Set pod offsets in mm (deprecated: see overload with DistanceUnit).
• setOffsets(double xOffset, double yOffset, DistanceUnit distanceUnit)
• setEncoderDirections(EncoderDirection x, EncoderDirection y)
• setEncoderResolution(GoBildaOdometryPods podType)
• setEncoderResolution(double ticks_per_mm)
• setEncoderResolution(double ticks_per_unit, DistanceUnit distanceUnit)

IMU

• recalibrateIMU()
  • Zero the IMU (robot must be still).
• resetPosAndIMU()
  • Zero position and IMU.

Pose and Heading

• setPosition(Pose2D pos)
• setPosX(double posX, DistanceUnit unit)
• setPosY(double posY, DistanceUnit unit)
• setHeading(double heading, AngleUnit unit)
• getPosition()
• getAngle(), getAngle(AngleUnit), getAngle(UnnormalizedAngleUnit)
• getX(), getY(), getAngle()

Status

• getDeviceID(), getDeviceVersion()
• getDeviceStatus()
• getLoopTime(), getFrequency()
• getEncoderX(), getEncoderY()
• getYawScalar()

Velocity

• getVelX(), getVelX(DistanceUnit)
• getVelY(), getVelY(DistanceUnit)
• getHeadingVelocity(), getHeadingVelocity(UnnormalizedAngleUnit)
• getVelocity()

Miscellaneous

• getXOffset(DistanceUnit), getYOffset(DistanceUnit)
• getPinpoint()

---

OpModeBase

Purpose:
Abstract base for all OpModes (autonomous or teleop).
Handles hardware initialization and provides access to motors, servos, and odometry.

Key Properties

• fl, fr, bl, br — Drivetrain motors (DcMotorEnhanced)
• arm — Arm motor (DcMotorEnhanced)
• claw — Claw servo
• odo — Odometry computer (GoBildaPinpointDriver)

Main Methods

protected abstract void runInit()

Override for code to run in init phase.

protected abstract void run()

Override for code to run once start is pressed.

private void initHardware()

Initializes all hardware.

• Configures motor/servo objects, odometry, directions.

public void runOpMode()

Main entrypoint for OpMode.

• Sets up telemetry, hardware, runs runInit(), waits for start, then runs run().

---

TeleOpBase

Purpose:
Base for teleop OpModes.
Implements drive logic and framework for teleop control.

Key Methods

protected void runInit()

• Sets drivetrain motors to RUN_WITHOUT_ENCODER (faster for teleop).
• Calls inInit() for your custom init code.

protected void run()

• Repeatedly calls runLoop() while OpMode is active.

protected abstract void runLoop()

Override to add the main teleop loop logic.

protected abstract void inInit()

Override to add code for the init phase of teleop.

protected void setSpeed(double speed)

• Set the drive speed multiplier.

protected void implementDriveLogic()

• Implements full mecanum drive logic using gamepads.
• Handles horizontal locking, slow mode, and trigger overrides.
• Use: Call this in your runLoop() to handle all drive movement.

---

How to Use This Framework

1. Create an OpMode (autonomous: extend AutoBase; teleop: extend TeleOpBase)
2. Override the required abstract methods (runSequence, runInit, runLoop, etc.)
3. Call movement and hardware methods to control your robot.
4. Tune constants in Constants.java as needed (dashboard compatible).
5. Use odometry and drive utilities for accurate and efficient robot control.

---

Questions?

• Each class and method is documented with purpose, usage, and scenarios.
• For detailed code reference, see the .java files.
• For FTC SDK integration, see FTC documentation.
• If nothing else works, ask Josh.