We use a programming language, Java
Java is an object-oriented, statically-typed language. (not important)

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You must use and make Variables and Functions.

• Variables represent motors, servos, and sensors on robot.
• Functions do things. Controlling motors, servos and getting sensor data.

OpModes

Opmodes are Java classes that are the blueprint that tell the robot when to move which parts.

We fill in three sections, the Variable Section,
the Initialization Section,
the Loop Section.

VARIABLE Section starts when the opmode is chosen.
Then the robot INITIALIZES, starting the engines.
Finally it runs. It LOOPS a set of commands controlled by the game controller.

All of three sections together:

public class RyanOpMode extends OpMode {
    //Variable Section
    //Place Code Here

    public void init(){
        //Initialization Section

        //Place Code Here
    }

    public void loop(){
        //Loop Section

        //Place Code Here
    }
}

Variable Section

The Variable Section is where we define the variables. Variables can be devices on the robot, or they can store information.

//Variable Section
DcMotor motorLeft;
DcMotor motorRight;
Servo servoArm;
double motorPower = 0.55; 
boolean onTheGround = True; ---  ### Variable Types Variables can store numbers, letters, words, boolean (true/false).  All variables have a type.  Only variables of the same type can usually be added or subtracted, or combined.

These are the only primitive types we care about.

• double - a decimal number and can be negative or positive.
• int - integer value (there is a size limit but it’s like 1000 or -999).
• boolean - a true or a false

These are some Device Types.

• DcMotor
• Servo
• TouchSensor
• UltrasonicSensor
• DcMotorController
• ServoController
• and a whole bunch of other ones

Initialization Section

This is where the robot activates its hardware - Motors, Servos, or Sensors - like starting a car. You can also store data in variables here.

public void init(){  
    motorLeft = hardwareMap.dcmotor.get("motor_1");  
    servoArm = hardwareMap.servo.get("bob");  
    onTheGround = False;  
}   --- We activate individual robot devices, motors, servos, sensors, etc.  
  
 public void init(){
   motorLeft = hardwareMap.dcMotor.get("bob");
   //We name motors whatever we want on the phone, which is the "bob" part
   motorLeft.setMode(RUN_WITHOUT_ENCODERS);
   //Or we can set some modes

Go to the Device Types page to learn more about which functions can be run during init

Loop Section

The functions in this section run continuously when the robot starts. Functions set the power of motors, the position of servos, or retrieve the data from sensors. One can change or use variables that store data as well.

public void loop(){  
    servoArm.setPosition(0.33);  
    if(gamepad1.left_stick_y);  
    motorRight.setPower(motorPower);
} ---  

Conditionals say that commmands run when a game controller button is pushed. That is the if statement.

public void loop(){
    motorLeft.setPower(gamepad1.left_stick_y);
    //set the power value to something between -1 and 1
    //left_stick_y will return or give a value between -1 and 1

    if(gamepad2.a){ //this is game controller 2's "a" button
        motorLeft.setPower(-1); //Full power, backwards
    }
}

Go to the Device Types page to learn more about which functions can be run during loop

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