OpMode Structure

What is an OpMode?

An OpMode (Operation Mode) is a Java class that controls your robot during a match. OpModes define the robot's behavior for autonomous or teleop periods and are selected and started from the Driver Station app.

See: FTC Docs: Creating and Running an Op Mode (OnBot Java)

Types of OpModes

OpModes can be:

@TeleOp: For driver-controlled periods (TeleOp)
@Autonomous: For autonomous periods (Autonomous)
LinearOpMode: Runs code sequentially (most common for beginners)
Iterative OpMode: Runs code in a loop (advanced)

OpMode Annotations

Annotations tell the SDK how to display your OpMode in the Driver Station.

- @TeleOp(name=...) — TeleOp mode
- @Autonomous(name=...) — Autonomous mode
- @Disabled — Hide this OpMode<

Sample LinearOpMode

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;

@TeleOp(name = "MyFIRSTJavaOpMode")
public class MyFIRSTJavaOpMode extends LinearOpMode {
    private DcMotor motorTest;
    private Servo servoTest;

    @Override
    public void runOpMode() {
        motorTest = hardwareMap.get(DcMotor.class, "motorTest");
        servoTest = hardwareMap.get(Servo.class, "servoTest");

        telemetry.addData("Status", "Initialized");
        telemetry.update();
        waitForStart();
        while (opModeIsActive()) {
            telemetry.addData("Status", "Running");
            telemetry.update();
        }
    }
}
// Source: https://ftc-docs.firstinspires.org/en/latest/programming_resources/tutorial_specific/onbot_java/creating_op_modes/Creating-and-Running-an-Op-Mode-(OnBot-Java).html

Hardware Initialization Example

private void initHardware() {
    motorTest = hardwareMap.get(DcMotor.class, "motorTest");
    servoTest = hardwareMap.get(Servo.class, "servoTest");
}
// Call this method at the start of runOpMode() for clarity.

Organizing Your OpModes

- Use clear method names for hardware initialization, input processing, and telemetry.
- Separate hardware mapping from robot logic.
- Use comments to explain each section.
- Keep OpModes focused on a single purpose.

Best Practices

For clean, reliable OpModes:

Initialize hardware in a dedicated method.
Use meaningful variable and method names.
Add telemetry for debugging.
Handle errors gracefully.
Test OpModes on the robot.

Next Steps

Linear vs Iterative OpModes Telemetry Logging Basic Robot Control

Practice: OpMode Structure

Try these to reinforce your understanding:

Create a TeleOp OpMode that drives a motor with the left stick.
Add telemetry to show motor power.
Use @Autonomous to create a simple autonomous OpMode.
Organize your code into methods for init, loop, and telemetry.

Open full interactive app