Setting Up Your Autonomous

This guide will walk you through making an autonomous OpMode using PedroPathing. We will break it down into several sections so it is easy for you to understand.

Before creating our paths, we first need a Follower.

The follower controls the drivetrain, keeps track of the robot's position using the localizer, and runs the path following algorithm configured in your Constants file.

If you haven't configured your robot yet, see the Constants page first.

Creating the OpMode

This process is the same as how you make any autonomous or TeleOp.

package org.firstinspires.ftc.teamcode.autos.ExampleAuto; // This should match the file location. This is auto generated by Android Studio

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;

@Autonomous
public class ExampleAuto extends OpMode {

    @Override
    public void init() {

    }

    @Override
    public void start() {

    }

    @Override 
    public void loop() {

    }
}

Creating the Follower

First, import the Follower and your Constants file:

import com.pedropathing.follower.Follower;

import org.firstinspires.ftc.teamcode.pedro.Constants;

Then, create a follower variable inside your OpMode:

public class ExampleAuto extends OpMode {

    private Follower follower; // Add this

The create() method in your Constants class creates a follower using the drivetrain, localizer, and algorithm you configured.

Create the follower inside your init() method:

@Override
public void init() {
    follower = Constants.create(hardwareMap);
}

init() runs when the OpMode is initialized, but before the Start button is pressed.

Next Step

Now that the follower is created, we can start pathing. The next step is to define where the robot starts and where we want it to go.

Continue to Creating a Pose.