= Programming Process =

This page outlines the process, best practices, and resources for programming your FTC robot.

== 1. Code Architecture Overview ==

* **Main Structure**
  * Use of `OpMode` classes for Autonomous and Teleoperated modes.
  * Separation of initialization, main loop, and cleanup logic.
  * Modularization: Organize code by subsystem (drivebase, intake, arm, etc.) for clarity and maintainability.
* **Team Standards**
  * Naming conventions for variables, methods, and classes.
  * Use of constants for motor/servo names and configuration values[3].

== 2. Getting Started ==

* **Setting Up the Development Environment**
  * Install Android Studio and the FTC SDK.
  * Import the latest FTC project template.
* **Basic Workflow**
  * Write code in the `teamcode` package.
  * Test on the robot using the Driver Station app[2][5].
* **Official Resources**
  * [[https://ftc-docs.firstinspires.org/programming_resources/index.html|FTC Programming Resources]]
  * [[https://ftc-docs.firstinspires.org|FTC Docs]]

== 3. Documentation and Comments ==

* **Javadoc Style**
  * Use ?? comments for classes, methods, and fields.
  * Document parameters, return values, and usage examples[3].
* **Inline Comments**
  * Clarify complex logic or non-obvious code.
  * Avoid redundant comments if code is self-explanatory[3].
* **Generated Documentation**
  * Use Android Studio to generate Javadoc HTML for team reference.

== 4. Autonomous and TeleOp Strategies ==

* **Autonomous Mode**
  * Write code to perform pre-planned tasks at the start of the match.
  * Use encoders, timers, or sensors for precise control[4][8].
* **Teleoperated Mode**
  * Map gamepad inputs to robot actions.
  * Implement advanced controls (e.g., arm positions, intake triggers)[4][8].
* **Vision and Sensors**
  * Integrate AprilTag, TensorFlow, or color processing for advanced automation[1].

== 5. Testing and Debugging ==

* **On-Robot Testing**
  * Test code frequently on the robot.
  * Use logcat and telemetry for debugging.
* **Iterative Development**
  * Fix issues as they arise.
  * Maintain a log of bugs and solutions.

== 6. Version Control ==

* **Git/GitHub**
  * Use version control to track changes and collaborate.
  * Commit frequently with descriptive messages[5].
* **Branching Strategy**
  * Use branches for new features or experiments.
  * Merge to main after testing.

== 7. Resources and References ==

* **Tutorials and Examples**
  * [[https://github.com/MastersNYEngineering/Tutorial|FTC Robot Coding Tutorial]]
  * [[https://docs.revrobotics.com/ftc-kickoff-concepts/into-the-deep-2024-25/programming-teleop/programming-initialization|REV Robotics Programming Guide]]
* **Community Support**
  * Reddit, Discord, and official FTC forums for help and inspiration[3][5].

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