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2022
-2023 FIRST
Tech Challenge
OnBot Java Guide:
Electronics Setup to Programming
2 | FIRST
Tech Challenge Onbot Java Guide
Revision 1: 8.04.22
Sponsor Thank You
Thank you to our generous sponsors for your continued support of the FIRSTTech Challenge!
FIRSTTech Challenge Onbot Java Guide | 3
Gracious Professionalism
- Doing your best work while treating others with respect and kindness - It"s what makes FIRST, first."
Revision History
Revision Date Description
1 08/04/2022 Initial Release
Contents Contents ........................................................................ Introduction ................................................................................................................................................................. 4
What is
FIRSTTech Challenge? ............................................................................................................................ 4
Gracious Professionalism® ......................................................................................................................................... 4
1. Introduction to OnBot Java Programming .......................................................................................................... 5
2. The
FTC Control System ................................................................................................................................... 5
3.Required Materials ............................................................................................................................................ 9
4.Using Your Android Device ..............................................................................................................................15
5.Displaying Available Apps on your Android Phone ...........................................................................................18
6. Configuring
Your Android Devices ....................................................................................................................20
7.Pairing the Driver Station to the Robot Controller .............................................................................................36
8. Connecting
Devices to a Control or Expansion Hub..........................................................................................43
9. Connecting
a Color-Distance Sensor to the Hub ...............................................................................................49
10.Connecting a Touch Sensor to the Hub ............................................................................................................51
11.Configuring Your Hardware ..............................................................................................................................53
12.Installing a Javascript Enabled Browser ...........................................................................................................71
13.Connecting a Laptop to the Program & Manage Network .................................................................................73
14.Creating and Running an Op Mode (OnBot Java) ............................................................................................78
15.Controlling a Servo (OnBot Java) .....................................................................................................................96
1 6.Using Sensors (OnBot Java) ............................................................................................................................99
17.OnBot Java Reference Info ............................................................................................................................ 100
Appendix A - Resources .......................................................................................................................................... 102
Introduction
What is FIRST
Tech Challenge?
FIRSTTech Challenge is a student-centered program that focuses on giving students a unique and stimulating
experience. Each year, teams engage in a new game where they design, build, test, and program autonomous and
driver operated robots that must perform a series of tasks. Participants and alumni of FIRST programs gain access
to education and career discovery opportunities, connections to exclusive scholarships and employers, and a place
in the FIRST community for life. To learn more about FIRSTTech Challenge and other FIRST
Programs, visit
www.firstinspires.orgGracious Professionalism®
FIRST uses this term to describe our programs" intent.Gracious Professionalism
is a way of doing things that encourages high-quality work, emphasizes the value of others, and respects individuals and the community. Watch Dr. Woodie Flowers explain Gracious Professionalism in this short video. FIRSTTech Challenge Onbot Java Guide | 5
Gracious Professionalism
- Doing your best work while treating others with respect and kindness - It"s what makes FIRST, first."
1. Introduction to OnBot Java Programming
This tutorial will take you step-by-step through the process of configuring, programming, and operating your
Control System. This tutorial uses the OnBot Java Programming Tool to help you get started programming your
robot. The FTC OnBot Java Programming Tool is a text-based programming tool that lets programmers use a webbrowser to create, edit and save their Java op modes. This tool is recommended for programmers who have basic
to advanced Java skills and who would like to write text-based op modes.2. The FTC Control System
2.1. Introduction
The FIRST Tech Challenge seeks to inspire youth to become the next generation of STEM leaders andinnovators through participation in mentor-guided robotics competition. Teams who participate in the FIRST Tech
Challenge must build a robot that performs a variety of tasks. The tasks vary from season to season, and are
based on a set of game rules that are published at the start of each season. The more tasks that a robot can
complete, the more points a team will earn.2.2. Autonomous Vs. Driver Controlled
A FIRST Tech Challenge match has an autonomous phase and a driver-controlled or tele-operated phase. In the
autonomous phase of a match the robot operates without any human input or control. In the driver-controlled
phase, the robot can receive input from up to two human drivers.2.3. Point-to-Point Control System
TheFIRST Tech Challenge uses Android devices to control its robots. During a competition, each team has two
Android devices.
One Android device is mounted onto the robot and is called theRobot Controller. The Robot Controller acts as
the "brains" of the robot. It does all of the thinking for the robot and tells the robot what to do. It consists of an
Android
device running an FTC Robot Controller app. There are two hardware options currently being used: REV Robotics Expansion Hub or the REV Robotics Control Hub.A second Android device sits with the team drivers and has one or two gamepads connected. This second device
is known as the Driver Station. The Driver Station is sort of like a remote control that you might use to control your
television. The Driver Station allows a team to communicate remotely (using a secure, wireless connection) to theRobot Controller and
to issue commands to the Robot Controller. The Driver Station consists of an Android device (smartphone or REV Driver Hub) running an FTC Driver Station app.The REV Driver Hub has the FTC Driver
Station app pre-installed on the device. Note: You do not have to reinstall the app on the Hub once charged and
connected to Wi-Fi.2.4. REV Robotics Expansion Hub
The REV Robotics Expansion Hub is the electronic input/outp ut (or "I/O") module that lets the Robot Controllertalk to the robot's motors, servos, and sensors. The Robot Controller communicates with the Expansion Hub
through a serial connection. For the situation where an Android smartphone is used as the Robot Co ntroller, aUSB cable is used to establish the serial connection. For the situation where a REV Robotics Control Hub is used,
an internal serial connection exists between the built-in Android device and the Expansion Hub.The Expansion Hub is also connected to a 12V battery which is used to power the Expansion Hub, the motors,
the servos and sensors. If an Android smartphone is used as the Robot Controller, then the smartphone will have
its own independent battery. If a REV Robotics Control Hub is used as the Robot Controller, then the Control Hub
will use the main 12V battery to power its internal Android device. FIRSTTech Challenge Onbot Java Guide | 7
Gracious Professionalism
- Doing your best work while treating others with respect and kindness - It"s what makes FIRST, first."
2.5. REV Robotics Control Hub
TheControl Hub has an integrated version of the Robot Controller. It combines an Android device built into the
same case as a REV Robotics Expansion Hub.The Control Hub, which has its built-in Android device connected directly to the Expansion Hub using an internal
serial bus, eliminates the need for an external USB connection between the Android Robot Controller and the I/O
module.8 | FIRST
Tech Challenge Onbot Java Guide
R evision 1: 8.04.222.6. What's an Op Mode?
During a typical FIRST Tech Challenge match, a team's robot has to perform a variety of tasks in an effort to
score points. For example, a team might want their robot to follow a white line on the competition floor and then
score a game element (such as a ball) into a goal autonomously during a match. Teams write "op modes" (which
stand for "operational modes") to specify the behavior for their robot.Op modes are computer programs that are used to customize the behavior of a competition robot. The Robot