In a previous lesson, you learned how to set up a hardware map configuration for your robot. Now, we will learn how to reference that hardware map in your code.
Before we get into accessing the hardware map, we must learn about how robot parts are represented in OnBot Java.
For now, we will focus on the two most important components of a robot: motors and servos.
Most FTC Teams use DC Motors for their robots. In OnBot Java, DcMotors are represented as the class
DcMotor. Servos are represented as the
The hardware map is provided to us through the variable
hardwareMap. This variable is available when you are using the
How do you access a component with the hardware map? The
hardwareMap provides us with a
get method that lets us get the component in our code.
DcMotor motor = hardwareMap.get(DcMotor.class, "motor");
As you can see, the
get method accepts two parameters: the type of component and the name. When you are using a servo, the type of component is
Servo.class; when you are using a DC Motor, the type of component is
If you are using a different component, it is
COMPONENT.class where COMPONENT is the class representation of the robot part.