Lesson 13.6: Build RobotConfig.java and Intake.java

The first five lessons gave you the design rules. You will now use them to build a project that survives beyond one OpMode.

Start with two files. RobotConfig.java owns shared configuration. Intake.java owns the intake hardware and behavior.

RobotConfig.java

RobotConfig.java

package org.firstinspires.ftc.teamcode;

public final class RobotConfig {
  public static final String INTAKE_NAME = "intake";
  public static final String LIFT_NAME = "lift";
  public static final double INTAKE_POWER = 0.8;
  public static final int LIFT_SCORE_TICKS = 1200;
  public static final double LIFT_POWER = 0.75;

  private RobotConfig() {}
}

The private constructor prevents accidental new RobotConfig() calls. The program reads these values through the class name.

Intake.java

Intake.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.hardware.HardwareMap;

public class Intake {
  private CRServo motor;

  public void init(HardwareMap hardwareMap) {
      motor = hardwareMap.get(
          CRServo.class, RobotConfig.INTAKE_NAME);
      stop();
  }

  public void collect() {
      motor.setPower(RobotConfig.INTAKE_POWER);
  }

  public void eject() {
      motor.setPower(-RobotConfig.INTAKE_POWER);
  }

  public void stop() {
      motor.setPower(0.0);
  }
}

The Python view shows the class structure only. FTC does not provide this Python hardware API.

The OpMode will not touch the CRServo field. It will state intent by calling collect(), eject(), or stop().

A Competition Team Uses the Same Boundary

Titan Robotics Club's subsystem guide constructs a slide in its own class, stores configuration in RobotParams, and exposes the finished motor to the robot layer. This lesson uses the same boundary with direct FTC SDK types:

public class Lift {
    private final TrcMotor liftMotor;

    public Lift() {
        liftMotor = new FtcMotorActuator(
            RobotParams.HWNAME_LIFT,
            liftParameters
        ).getActuator();
    }
}

The names and omitted setup were shortened to match this lesson. The ownership pattern is unchanged: the mechanism class creates its hardware from centralized configuration. Adapted from Team 3543 Titan Robotics Club's subsystem guide at a pinned commit under the MIT License.

Project Practice

Complete the intake methods in the project below. Every tab is a separate file in the same TeamCode package.

Unit 13.6 Intake Project

Each tab is a separate Java file in the same TeamCode package. Every stage compiles as one project, and the finished TeleOp can run.

Your project saves in this browser. Export it after Lesson 13.9 so you can use the same classes in the final autonomous lesson.

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