As it relates to Android Studio. By Phil Malone:

Transcription

1 As it relates to Android Studio By Phil Malone:

2 *Jargon, Jargon and More Jargon *Where to find tools/documentation *The Software Components *Driver Station *Robot Controller *The IDE *Downloading the Code Template *The anatomy of an OpMode *Creating your own OpMode *Deployment *Testing

3 *Gradle is a build automation tool that builds upon the concepts of Apache Ant and Apache Maven and introduces a Groovy-based domain-specific language (DSL) instead of the more traditional XML form of declaring the project configuration.

4 Android Mobile Phone Operating system, by Google. Multiple versions with ever growing capabilities. FTC uses Android KitKat * App Application (program that runs on a mobile device) * IDE Integrated Development Environment. (Program for writing programs) * SDK Software Development Kit (Parts to help you build a program) Google SDK FTC SDK * API Application Programmer Interface (defines built-in program features) * Google API Defines built-in Google features * Android Studio An IDE for writing Java APPs for Android Phones * Project All the components that go into a specific application. * Gradle Used to build the application from its components.

5 Java A high-level text based programming language. A commonly used foundation for developing and delivering content on the Web. * Class A class is template for creating objects by which defines the object properties and behaviors. Java class objects exhibit the properties and behaviors defined by its class. A class can contain fields and methods to describe the behavior of an object. * Object Exhibit the properties and behaviors defined by its class. * Field Data stored within an object * Method Action that can be performed by/on an object. * Refractor Refactoring is the process of changing a software system in such a way that it does not alter the external behavior of the code yet improves its internal structure

6 ADB Android Debug Bridge (A means to deploy and test Apps) * Deploy Transfer an App to the Android Phone. (Can be done wired or wirelessly) * opmode An Operational Mode that defines how your robot will run during a single match period. One App contains multiple opmodes. These can be for driver control mode or autonomous. OpModes are selectable from the Driver Station, prior to the match starting.

7 *Your team will use Android Studios and the FTC SDK to write a custom App in Java. *You will build your app to utilize API 19 which supports the Android Operating System (KitKat). *You will add one or more new classes in the form of custom opmodes. *You will use Gradle to build the App, and ADB to deploy it to the ZTE phone on your robot.

8 * Download Android Studios * Download FTC SDK * Phone Setup Video * Android Studio Help * FTC Help * /AndroidStudioProjects/ftc_app-master/docs (Installed with FTC SDK)

9 * A single App is created which contains all the possible robot operational modes (opmodes). * All of the typical App functionality is already included and locked down. * Methods are provided for accessing robot hardware and communicating between Driver Station. * The App attaches to the hardware using names that are set through an offline Configuration process. * Several sample opmodes are included, but need not be used. * New blank opmodes can be added, and then filled in with the desired behavior code. * opmodes provide several empty methods which should be overridden with new user code.

10 * init() Called once when the driver selects a new opmode and presses INIT * init_loop() Called repeatedly while waiting for driver to hit PLAY button. Robot hardware is updated between each call. * start() Called once when driver hits PLAY * loop() Called repeatedly while waiting for driver to hit STOP or for a timed match to complete. Robot hardware is updated between each call. * stop() Called once when the driver hits STOP or a timed match ends. * The code in each method should quickly do its job and then return.

11 *Init() is provided to enable robot setup before the match begins. *Devices should be looked up in the Hardware Map, and made accessible to the rest of the code. *One-time actions should be performed, like setting initial servo positions or starting a gyro calibration.

12 *Init_loop() is provided for ongoing pre-game setup. *Eg: For proceeding with a gyro calibration that takes several seconds, or any other action that s allowed by the rules prior to the start of the match.

13 *Start() is provided to set-up any initial match conditions. *This could be starting a game clock, or deciding on an autonomous action. *Start() can also work in combination with stop() to allocate/free program storage, or attach/detach from custom sensors.

14 *Loop() is the primary control loop. *Game controller and sensor inputs can be read, and motor/servo actions can be taken. *If special timing or sequential actions are required, one or more state machines may be required to manage those actions over several loop() calls.

15 *Stop() is provided to get the robot back to a safre mode. *It should be used to end any actions begun in loop() or close out any resources created in start().

16 * Strictly speaking you can get by putting code in just two of the methods. * init() for connecting with the sensors/motors by name. (provides a chance to detect bad names prior to running) * loop() for running the robot during the match. * Note: There is also a type of opmode called a linearopmode. This creates a new thread that lets you write your code in-line, but its capabilities and limitations were not well defined prior to kickoff. So we ll just stick with opmode. * Now let s look at the code

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