How to Use the Slow Mode Manager

Introduction

The SlowModeManager is a utility designed to manage slow mode configurations for an FTC robot, enabling dynamic speed adjustments using gamepad inputs. This allows for more precise control, particularly during delicate maneuvers.

Note: The slow mode factor is a DIVISION factor, meaning a factor of 2.0 will halve the speed.

Key Components

1. `SlowModeManager`

The SlowModeManager class manages different slow modes based on a predefined mapping of keys to SlowModeMulti instances.

Creating a SlowModeManager

There are multiple ways to initialize a SlowModeManager:

SlowModeManager slowModeManager = new SlowModeManager(new HashMap<SlowModeDefaults, SlowModeMulti>() {{
    put(SlowModeDefaults.NORMAL, new SlowModeMulti(SlowMode.basic(), Button.A));
}}, gamepadPlus);

Constructors

SlowModeManager(HashMap<Enum<?>, SlowModeMulti> slowModeDataList, GamepadPlus gamepad)
SlowModeManager(HashMap<Enum<?>, SlowModeMulti> slowModeDataList, Gamepad gamepad)
SlowModeManager(GamepadPlus gamepad)
SlowModeManager(List<Pair<Enum<?>, SlowModeMulti>> list, GamepadPlus gamepad)

Core Methods

double apply(double value) - Adjusts a given value based on the currently active slow mode.
DrivePowerCoefficients apply(DrivePowerCoefficients drivePowerCoefficients) - Modifies drive power coefficients.
void update() - Updates the active slow mode based on gamepad input.
void telemetry(Telemetry telemetry) - Displays the current slow mode in telemetry.

2. `SlowModeMulti`

The SlowModeMulti class defines an individual slow mode configuration, specifying activation and deactivation buttons.

Creating a SlowModeMulti

SlowModeMulti slowMode = new SlowModeMulti(SlowMode.basic(), Button.A);

The Constructors

SlowModeMulti(SlowMode slowModeData, Button activeButton, Button deactiveButton)
SlowModeMulti(SlowMode slowModeData, Button activeButton)

Built-in Configurations

static SlowModeMulti basic() - Returns a slow mode with a factor of 2.0, activated by Button.A.

3. `SlowMode`

The SlowMode class defines a slow mode with a configurable factor.

Creating a SlowMode

SlowMode slowMode = new SlowMode(2); // Reduces speed by half

Singular Constructor

SlowMode(double slowModeFactor)

Predefined Modes

static SlowMode basic() - A factor of 2.0.
static SlowMode one() - A factor of 1.0 (no change).
static SlowMode of(double slowModeFactor) - Creates a custom slow mode factor.

Usage Example

This example demonstrates how to integrate SlowModeManager with a gamepad.

HashMap<SlowModeDefaults, SlowModeMulti> slowModeMap = new HashMap<>();
slowModeMap.put(SlowModeDefaults.NORMAL, new SlowModeMulti(SlowMode.basic(), Button.A));
GamepadPlus gamepadPlus = new GamepadPlus(gamepad1);
SlowModeManager slowModeManager = new SlowModeManager(slowModeMap, gamepadPlus);

// Applying slow mode to a value
double modifiedSpeed = slowModeManager.apply(1.0);

Best Practices

Ensure SlowModeManager is initialized with a valid slowModeDataList.
Call update() frequently to capture button state changes.
Use telemetry to display the active slow mode for debugging.

With this setup, your FTC robot can dynamically adjust its movement speed based on gamepad input, providing better control during gameplay.

Last modified: 17 March 2025