Revision as of 12:11, 18 March 2022

Why Use Abstraction

• Makes it easier to reason about complex programs
• Easier to test programs - can test small part individually
• Code is reused making it more reliable

Code Outline

• Code based on FTC_Motor_Encoders_20200304
• Enhance the drive forward with encoders using the setVelocity to drive the robot in a square.

public  class DriveInASquare extends LinearOpMode
{
    @Override
    public void runOpMode() throws InterruptedException
    {
        waitForStart();
        int count = 0;
        while (opModeIsActive() && count < SQUARE_SIDES)
        {
            driveForMmAt (TARGET_DISTANCE, TARGET_VELOCITY);
            turnForDegrees (TARGET_TURN);
            count++;
        }
    }

    void driveForMmAt (double distanceMm, double velocityMmPerSec)
    {

    }

    void turnForDegrees (double turnDegrees)
    {

    }
}

Full Code One Method

• DriveInASquare.java