Quickstart

Before you write your own autonomous paths, copy our sample OpMode to verify your hardware is working and to tune your chassis.

Because NODO relies on timed moves, your feedforward constant ($kF$) must be tuned to overcome the friction of the foam tiles on your specific robot.

1. Copy the Sample Auto

Create a new Java class in your folder called NODOTestAuto and paste the following code exactly as is.

package org.firstinspires.ftc.teamcode;

import com.nonodo.hardware.NODOChassis;
import com.nonodo.hardware.NODODrive;
import com.nonodo.hardware.NODODriveType;
import com.nonodo.hardware.NODOTankDrive;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot.LogoFacingDirection;
import com.qualcomm.hardware.rev.RevHubOrientationOnRobot.UsbFacingDirection;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;

/**
 * Testing auton. Drives straight, then turns 90 degrees
 */
@Autonomous(name = "Sample Drive + Turn 90")
public class SampleDriveAndTurn90 extends LinearOpMode {

    private static double kF = 0.03;

    // ===== pick one of these =====
    private static final NODODriveType DRIVE_TYPE = NODODriveType.MECANUM;
    // private static final NODODriveType DRIVE_TYPE = NODODriveType.TANK;

    @Override
    public void runOpMode() {
        // ==== pick one =====
        setMecanum("FL", "FR", "BL", "BR",
                DcMotor.Direction.FORWARD,
                DcMotor.Direction.REVERSE,
                DcMotor.Direction.FORWARD,
                DcMotor.Direction.REVERSE);

        // setTank("leftDrive", "rightDrive",
        //     DcMotor.Direction.FORWARD,
        //     DcMotor.Direction.REVERSE);

        NODODrive drive = new NODODrive(hardwareMap, DRIVE_TYPE, kF);

        drive.setControlHubOrientation(
                LogoFacingDirection.UP, UsbFacingDirection.FORWARD
        );

        drive.setTurnPD(0.04, 0.0025);

        telemetry.addData("drive", DRIVE_TYPE);
        telemetry.addLine("Ready.");
        telemetry.update();
        waitForStart();
        if (isStopRequested()) {
            return;
        }

        // LinearOpMode: call helpers in order — no start()/loop() needed.
        drive.driveFor(0.5, 800, this::opModeIsActive);
        drive.turnBy(-90, this::opModeIsActive); // +90 = CCW; use -90 for CW

        telemetry.addData("heading", drive.getHeading());
        telemetry.addLine("done");
        telemetry.update();
    }

    public void setMecanum(String fl, String fr, String bl, String br,
                           DcMotor.Direction flDir, DcMotor.Direction frDir,
                           DcMotor.Direction blDir, DcMotor.Direction brDir) {
        NODOChassis.setMotorNames(fl, fr, bl, br);
        NODOChassis.setMotorDirections(flDir, frDir, blDir, brDir);
    }

    public void setTank(String l, String r, DcMotor.Direction lDir, DcMotor.Direction rDir) {
        NODOTankDrive.setMotorNames(l, r);
        NODOTankDrive.setMotorDirections(lDir, rDir);
    }
}

2. Configure

1. Change motor names to match hardware configuration.

2. Reverse motors as needed

3. Update control hub orientation

   Directions are robot relative.

   Specific examples of orientation can be found here.

3. Test!

Your robot should drive forwards, then turn 90 degrees CW.

If it doesn’t turn exactly 90 degrees, or it shakes when turning, don’t worry! Our next step, tuning, will help fix this.

1. Open FTC Blocks

In the Robot Controller web interface, go to Blocks and import TestOpmode.blk (downloaded from Releases in Installation).

2. Configure

1. Change the motor names in setMecanum to match your hardware configuration.
2. Flip any FORWARD/REVERSE values to correct motor directions.
3. Update the logo and USB directions in setControlHubOrientation.

Specific orientation examples can be found here.

3. Build the Run sequence

In the NODO Run toolbox, drag these blocks after Start, stacked directly below the Start hat — not inside repeat while opModeIsActive:

driveFor(0.5, 800)

turnBy(-90)

4. Test!

Your robot should drive forwards, then turn 90 degrees CW.

If it doesn’t turn exactly 90 degrees, or it shakes when turning, don’t worry! Our next step, tuning, will help fix this.

Go to Tuning