Creating your first Autonomous Mode

An AutonomousMode is a VoltOpMode that allows you to perform Actions autonomously.

Steps

Prerequisites

This guide assumes you’ve created a Robot class, created an Attachment class, learned about the structure of Volt OpModes, and understand Actions.

1. Create Your AutonomousMode Class

First, create a new class that inherits AutonomousMode.

AutonomousMode takes a type parameter for your Robot class. It uses that type for the abstract robot property.

Override the robot property with an instance of your Robot class. You can use properties defined in VoltOpMode like hardwareMap to create your Robot instance.

Kotlin

import dev.kingssack.volt.opmode.autonomous.AutonomousMode

class ExampleAuto : AutonomousMode<MyRobot>() {
    override val robot = MyRobot(hardwareMap)
}

Java

import dev.kingssack.volt.opmode.autonomous.AutonomousMode;

public class ExampleAuto extends AutonomousMode<MyRobot> {
    @NotNull MyRobot robot = new MyRobot(getHardwareMap());

    @Override
    protected @NotNull MyRobot getRobot() {
        return robot;
    }

    public ExampleAuto() {
        super();
    }
}

2. Define an Event

By default AutonomousModes only have one event: Start, which is triggered when the play button is pressed on the Driver Station.

Events are defined with the then function, which takes an event and a lambda with a VoltActionBuilder as the receiver.

On Start, we’ll open the claw, then close the claw and score at the same time. We’ll repeat this sequence three times:

Kotlin

import dev.kingssack.volt.opmode.autonomous.AutonomousMode
import dev.kingssack.volt.util.Event.AutonomousEvent.Start

class ExampleAuto : AutonomousMode<MyRobot>() {
    override val robot = MyRobot(hardwareMap)

    init {
        Start then {
            repeat(3)  {
                +robot.claw.open() // Add an action to the sequence

                parallel { // Run these actions at the same time
                    +robot.claw.close()
                    +robot.score()
                }
            }
        }
    }
}

Java

import dev.kingssack.volt.opmode.autonomous.AutonomousMode;
import dev.kingssack.volt.util.Event.AutonomousEvent.Start;
import kotlin.Unit;

public class ExampleAuto extends AutonomousMode<MyRobot> {
    @NotNull MyRobot robot = new MyRobot(getHardwareMap());

    @Override
    protected @NotNull MyRobot getRobot() {
        return robot;
    }

    public ExampleAuto() {
        super();

        then(Start.INSTANCE, builder -> {
            for (int i = 0; i < 3; i++) {
                builder.unaryPlus(robot.getClaw().open()); // Add an action to the sequence

                builder.parallel(() -> { // Run these actions at the same time
                    builder.unaryPlus(robot.getClaw().close());
                    builder.unaryPlus(robot.score());
                });
            }
            return Unit.INSTANCE;
        });
    }
}

3. Add Metadata

Add the @VoltOpModeMeta annotation to the class definition. Without this annotation, the OpMode will not be registered and will not appear on the Driver Station.

Kotlin

import dev.kingssack.volt.opmode.VoltOpModeMeta
import dev.kingssack.volt.opmode.autonomous.AutonomousMode
import dev.kingssack.volt.util.Event.AutonomousEvent.Start

@VoltOpModeMeta("Example Auto", "Examples")
class ExampleAuto : AutonomousMode<MyRobot>() {
    override val robot = MyRobot(hardwareMap)

    init {
        Start then {
            repeat(3) {
                +robot.claw.open()

                parallel {
                    +robot.claw.close()
                    +robot.score()
                }
            }
        }
    }
}

Java

import dev.kingssack.volt.opmode.VoltOpModeMeta;
import dev.kingssack.volt.opmode.autonomous.AutonomousMode;
import dev.kingssack.volt.util.Event.AutonomousEvent.Start;
import kotlin.Unit;

@VoltOpModeMeta("Example Auto", "Examples")
public class ExampleAuto extends AutonomousMode<MyRobot> {
    @NotNull MyRobot robot = new MyRobot(getHardwareMap());

    @Override
    protected @NotNull MyRobot getRobot() {
        return robot;
    }

    public ExampleAuto() {
        super();

        then(Start.INSTANCE, builder -> {
            for (int i = 0; i < 3; i++) {
                builder.unaryPlus(robot.getClaw().open());

                builder.parallel(() -> {
                    builder.unaryPlus(robot.getClaw().close());
                    builder.unaryPlus(robot.score());
                });
            }
            return Unit.INSTANCE;
        });
    }
}

Result

Kotlin

package org.firstinspires.ftc.teamcode.opmodes.autonomous

import dev.kingssack.volt.opmode.VoltOpModeMeta
import dev.kingssack.volt.opmode.autonomous.AutonomousMode
import dev.kingssack.volt.util.Event.AutonomousEvent.Start

@VoltOpModeMeta("Example Auto", "Examples")
class ExampleAuto : AutonomousMode<MyRobot>() {
    override val robot = MyRobot(hardwareMap)

    init {
        Start then {
            repeat(3) {
                +robot.claw.open()

                parallel {
                    +robot.claw.close()
                    +robot.score()
                }
            }
        }
    }
}

Java

package org.firstinspires.ftc.teamcode.opmodes.autonomous;

import dev.kingssack.volt.opmode.VoltOpModeMeta;
import dev.kingssack.volt.opmode.autonomous.AutonomousMode;
import dev.kingssack.volt.util.Event.AutonomousEvent.Start;
import kotlin.Unit;

@VoltOpModeMeta("Example Auto", "Examples")
public class ExampleAuto extends AutonomousMode<MyRobot> {
    @NotNull MyRobot robot = new MyRobot(getHardwareMap());

    @Override
    protected @NotNull MyRobot getRobot() {
        return robot;
    }

    public ExampleAuto() {
        super();

        then(Start.INSTANCE, builder -> {
            for (int i = 0; i < 3; i++) {
                builder.unaryPlus(robot.getClaw().open());

                builder.parallel(() -> {
                    builder.unaryPlus(robot.getClaw().close());
                    builder.unaryPlus(robot.score());
                });
            }
            return Unit.INSTANCE;
        });
    }
}

Next Steps

• Learn about multi-variant Autonomous Modes
• Create a ManualMode to control you Robot with gamepads
• Learn more about Events
• Learn more about the VoltActionBuilder