Creating your first Robot

Rapidly develop and test new robots with the Volt library.

What is a Robot?

A Robot is a class that contains all Attachments, sensors, and shared Actions that make up a robot.

You should create a new Robot class for each physical robot you’ve built.

Creating a Robot

Create a new kotlin class in TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/robot that inherits the Robot class.

The Robot class contains:

1. A list of attachments
2. A function called update(telemetry: Telemetry) that is called every tick

Kotlin

class Example : Robot() {
    init {
        // Initialize
    }
}

Java

(Coming Soon)

Add Sensors

Define the sensors that your robot will use and a way to access them. For example, add a HuskyLens sensor to your robot.

Kotlin

class Example : Robot() {
    // Sensors
    private val huskyLens: HuskyLens = hardwareMap.get(HuskyLens::class.java, "lens")

    init {
        // Set huskylens mode
        huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_RECOGNITION)
    }

    fun getDetectedObjects(telemetry: Telemetry): Array<out HuskyLens.Block>? {
        // Get objects
        val blocks = huskyLens.blocks()
        telemetry.addData("Block count", blocks.size)
        for (block in blocks) {
            telemetry.addData("Block", block.toString())
        }
        return blocks
    }
}

Java

(Coming Soon)

Add Attachments

Define the Attachments that your robot will use. For example, add a SimpleAttachmentWithDcMotor to your Robot.

Kotlin

class Example : Robot() {
    // Sensors
    private val huskyLens: HuskyLens = hardwareMap.get(HuskyLens::class.java, "lens")

    // Attachments
    val exampleAttachment: SimpleAttachmentWithDcMotor = SimpleAttachmentWithDcMotor(hardwareMap, "motor", 0.5, 1000)

    init {
        attachments = listOf(exampleAttachment)

        // Set huskylens mode
        huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_RECOGNITION)
    }

    fun getDetectedObjects(telemetry: Telemetry): Array<out HuskyLens.Block>? {
        // Get objects
        val blocks = huskyLens.blocks()
        telemetry.addData("Block count", blocks.size)
        for (block in blocks) {
            telemetry.addData("Block", block.toString())
        }
        return blocks
    }
}

Java

(Coming Soon)

Add Actions

Define Actions for your Attachments and sensors. For example, add a function to move a motor to a specific position.

Kotlin

class Example : Robot() {
    // Sensors
    private val huskyLens: HuskyLens = hardwareMap.get(HuskyLens::class.java, "lens")

    // Attachments
    val exampleAttachment: SimpleAttachmentWithDcMotor = SimpleAttachmentWithDcMotor(hardwareMap, "motor", 0.5, 1000)

    init {
        attachments = listOf(exampleAttachment)

        // Set huskylens mode
        huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_RECOGNITION)
    }

    fun moveMotorToSpecificPosition(): Action {
        // Move motor to 1000 at 50% power
        return exampleAttachment.goTo(0.5, 1000)
    }

    fun getDetectedObjects(telemetry: Telemetry): Array<out HuskyLens.Block>? {
        // Get objects
        val blocks = huskyLens.blocks()
        telemetry.addData("Block count", blocks.size)
        for (block in blocks) {
            telemetry.addData("Block", block.toString())
        }
        return blocks
    }
}

Java

(Coming Soon)

Result

Kotlin

package org.firstinspires.ftc.teamcode.robot

import com.acmerobotics.roadrunner.Action
import com.acmerobotics.roadrunner.Pose2d
import dev.kingssack.volt.attachment.SimpleAttachmentWithDcMotor
import dev.kingssack.volt.robot.Robot
import com.qualcomm.hardware.dfrobot.HuskyLens
import com.qualcomm.robotcore.hardware.HardwareMap
import org.firstinspires.ftc.robotcore.external.Telemetry

class Example : Robot() {
    private val huskyLens: HuskyLens = hardwareMap.get(HuskyLens::class.java, "lens")

    val exampleAttachment: SimpleAttachmentWithDcMotor = SimpleAttachmentWithDcMotor(hardwareMap, "motor", 0.5, 1000)

    init {
        attachments = listOf(exampleAttachment)

        huskyLens.selectAlgorithm(HuskyLens.Algorithm.OBJECT_RECOGNITION)
    }

    fun moveMotorToSpecificPosition(): Action {
        return exampleAttachment.goTo(0.5, 1000)
    }

    fun getDetectedObjects(telemetry: Telemetry): Array<out HuskyLens.Block>? {
        val blocks = huskyLens.blocks()
        telemetry.addData("Block count", blocks.size)
        for (block in blocks) {
            telemetry.addData("Block", block.toString())
        }
        return blocks
    }
}

Java

(Coming Soon)