. Review the Documentations:
If you have already known the configuration of the expansion hub/control hub, You can ignore this section. Expansion Hub with Android Device Robot Controller - DUO Control System (revrobotics.com)
Keep this diagram in mind:
Wiring Diagram - DUO Control System (revrobotics.com)
Programming the basic components:
1. follow the Tutorial videos step by step copy the code to the teamcode library in your android studio and rename the java file by just
adding the unique prefix that you defined. So all the java program file you wrote follow the name convention :
yourunique prefix||originalfilename.Java.
2. Understand the code.
A. Carefully Read instructional comments.
B. Understand the structure / components of the java program.
C. Make sure the names of the robot parts in the sample code are the same as the names in the controller. If not change your
code or change the configuration on the controller. ( be sure to create and save your robot configuration not to overwrite other’s configuration file)
3. The video tutorials.
Testing Motors
Testing Sensors
Programming tutorial for Teleop session
Programming the Autonomous session:
Basics of Programming with Encoders
STOP_AND_RESET_ENCODER Mode
Place a motor in this mode when you want to set its encoder position back to 0. The motor will stop. To start it again, you need to place the motor into one of the other three modes. It is recommended to place each motor you will be using encoders with into this mode at the start of each program, so that you know what position the motor is starting out in.
RUN_WITHOUT_ENCODER Mode
Use this mode when you don’t want the Control Hub to attempt to use the encoders to maintain a constant speed. You can still access the encoder values, but your actual motor speed will vary more based on external factors such as battery life and friction. In this mode, you provide a power level in the -1 to 1 range, where -1 is full speed backwards, 0 is stopped, and 1 is full speed forwards. Reducing the power reduces both torque and speed.
This mode is a good choice for drivetrain motors driven by joysticks on the gamepad.
RUN_USING_ENCODER Mode
In this mode, the Control Hub will use the encoder to take an active role in managing the motor’s speed. Rather than directly applying a percentage of the available power, RUN_USING_ENCODER mode targets a specific velocity (speed). This allows the motor to account for friction, battery voltage, and other factors.
This mode is a good choice for operations, like a flywheel, that require a specific speed and can use buttons on a gamepad for control.
RUN_TO_POSITION Mode
In this mode, the Control Hub will target a specific position, rather than a specific velocity. You still set a velocity, but it is only used as the maximum velocity. The motor will continue to hold its position even after it has reached its target.
DriveTrain Motors
