Adding Configuration

Everything can be configured using the FTC Dashboard. This includes attachments, autonomous modes, and manual modes.

How does configuration work?

Configuration is done using the FTC Dashboard.

Implementing a Config object

Add the @Config annotation to your class.

@Config
class Example(hardwareMap: HardwareMap, name: String) : Attachment() {
    val motor = hardwareMap.dcMotor[name]

    init {
        motor.mode = DcMotorSimple.RunMode.RUN_USING_ENCODER
        motor.zeroPowerBehavior = DcMotor.ZeroPowerBehavior.BRAKE
        motors = listOf(motor)
    }

    inner class Control(
        private val power: Double,
        private val targetPosition: Int
    ) : ControlAction() {
        private var reversing = false

        override fun init() {
            reversing = targetPosition < motor.currentPosition
            motor.power = if (reversing) -power else power
        }

        override fun update(packet: TelemetryPacket): Boolean {
            val currentPosition = motor.currentPosition
            if ((currentPosition < targetPosition) xor reversing) return false
            return true
        }

        override fun handleStop() {
            motor.power = 0.0
        }
    }
    fun goTo(power: Double, position: Int): Action {
        return Control(power, position)
    }

    override fun update(telemetry: Telemetry) {
        telemetry.addLine("==== EXAMPLE ====")
        telemetry.addData("Position", motor.currentPosition)
        telemetry.addLine()
    }
}

Add an object

companion object Params {
    @JvmField
    var maxPosition: Int = 2200
    @JvmField
    var minPosition: Int = 10
    @JvmField
    var maxPower: Double = 0.6
}

Implement the configuration

@Config
class Example(hardwareMap: HardwareMap, name: String) : Attachment() {
    companion object Params {
        @JvmField
        var maxPosition: Int = 2200
        @JvmField
        var minPosition: Int = 10
        @JvmField
        var maxPower: Double = 0.6
    }

    val motor = hardwareMap.dcMotor[name]

    init {
        motor.mode = DcMotorSimple.RunMode.RUN_USING_ENCODER
        motor.zeroPowerBehavior = DcMotor.ZeroPowerBehavior.BRAKE
        motors = listOf(motor)
    }

    inner class Control(
        private val power: Double,
        private val targetPosition: Int
    ) : ControlAction() {
        private var reversing = false

        override fun init() {
            // Check if the target position is valid
            require(targetPosition in minPosition..maxPosition) { "Target position out of bounds" }

            reversing = targetPosition < motor.currentPosition
            motor.power = if (reversing) -power.coerceAtMost(maxPower) else power.coerceAtMost(maxPower)
        }

        override fun update(packet: TelemetryPacket): Boolean {
            val currentPosition = motor.currentPosition
            if ((currentPosition < targetPosition) xor reversing) return false
            return true
        }

        override fun handleStop() {
            motor.power = 0.0
        }
    }
    fun goTo(power: Double, position: Int): Action {
        return Control(power, position)
    }

    override fun update(telemetry: Telemetry) {
        telemetry.addLine("==== EXAMPLE ====")
        telemetry.addData("Position", motor.currentPosition)
        telemetry.addLine()
    }
}

Result

package org.firstinspires.ftc.teamcode.attachment

import com.acmerobotics.dashboard.config.Config
import com.acmerobotics.dashboard.telemetry.TelemetryPacket
import com.acmerobotics.roadrunner.Action
import dev.kingssack.attachment.Attachment
import com.qualcomm.robotcore.hardware.DcMotor
import com.qualcomm.robotcore.hardware.DcMotorSimple
import com.qualcomm.robotcore.hardware.HardwareMap
import org.firstinspires.ftc.robotcore.external.Telemetry

@Config
class Example(hardwareMap: HardwareMap, name: String) : Attachment() {
    companion object Params {
        @JvmField
        var maxPosition: Int = 2200
        @JvmField
        var minPosition: Int = 10
        @JvmField
        var maxPower: Double = 0.6
    }

    val motor = hardwareMap.dcMotor[name]

    init {
        motor.mode = DcMotorSimple.RunMode.RUN_USING_ENCODER
        motor.zeroPowerBehavior = DcMotor.ZeroPowerBehavior.BRAKE
        motors = listOf(motor)
    }

    inner class Control(
        private val power: Double,
        private val targetPosition: Int
    ) : ControlAction() {
        private var reversing = false

        override fun init() {
            require(targetPosition in minPosition..maxPosition) { "Target position out of bounds" }

            reversing = targetPosition < motor.currentPosition
            motor.power = if (reversing) -power.coerceAtMost(maxPower) else power.coerceAtMost(maxPower)
        }

        override fun update(packet: TelemetryPacket): Boolean {
            val currentPosition = motor.currentPosition
            if ((currentPosition < targetPosition) xor reversing) return false
            return true
        }

        override fun handleStop() {
            motor.power = 0.0
        }
    }
    fun goTo(power: Double, position: Int): Action {
        return Control(power, position)
    }

    override fun update(telemetry: Telemetry) {
        telemetry.addLine("==== EXAMPLE ====")
        telemetry.addData("Position", motor.currentPosition)
        telemetry.addLine()
    }
}