Sample Code Walkthrough

ValleyLib ships copy-ready starter code in valleyLib-ftc/src/main/java/com/vcs/valleylib/ftc/samples. These aren't toys — they demonstrate the intended structure for a real season codebase. Copy them into TeamCode and adapt.

What's included

File	Demonstrates
SampleTeleOp	A CommandOpMode TeleOp using a robot container + command logging
SimpleRobot	A complete RobotContainer: subsystems, default command, button bindings, an auto command
hardware/SampleDriveHardware	A 4-motor tank drivetrain subsystem
hardware/SampleIntakeHardware	A CR-servo intake subsystem
auto/SampleAutos	Reusable Pedro autonomous factories (simpleTaxi, taxiAndCycle)
auto/PedroMigrationSample	Line-by-line migration from a Pedro state machine (see Migration Guide)

SampleTeleOp

The minimal TeleOp shell — three overrides:

@TeleOp(name = "ValleyLib: Sample TeleOp", group = "Samples")
public class SampleTeleOp extends CommandOpMode {

    private SimpleRobot robot;

    @Override
    protected void initialize() {
        robot = new SimpleRobot(hardwareMap, gamepad1);
    }

    @Override
    protected void run() {
        telemetryBus.put("Drivetrain", "Active");
        telemetryBus.put("Intake Status", "Ready");
    }

    @Override
    protected boolean enableCommandLogging() {
        return true;    // live cmd/scheduled, cmd/finished, cmd/canceled telemetry
    }
}

Points to notice:

• No loop bookkeeping — CommandOpMode polls triggers, runs the scheduler, and flushes telemetry.
• enableCommandLogging() turns on command lifecycle telemetry with one line.

SimpleRobot

The container wires everything together (full listing on the RobotContainer page). The highlights:

// Default command: joystick tank drive whenever the drivetrain is idle
// (drive.run(...) carries the drivetrain requirement)
drive.setDefaultCommand(drive.run(() ->
        drive.tankDrive(driver.leftY(), driver.rightY())));

// Hold-to-run intake — subsystem factories carry requirements,
// and bindings auto-register with the trigger poller
driver.a().whileTrue(intake.startEnd(intake::intakeIn, intake::stop));
driver.b().whileTrue(intake.startEnd(intake::intakeOut, intake::stop));

// Composed one-shot pulse
driver.rightBumper().onTrue(
        intake.runOnce(intake::intakeIn)
                .andThen(Commands.waitSeconds(0.5))
                .andThen(intake::stop));

Three binding idioms in ten lines: default commands, whileTrue + startEnd, and sequential composition on a button.

Sample hardware subsystems

SampleDriveHardware shows the drivetrain pattern — construct and configure motors in the constructor, expose actions:

public void tankDrive(double leftPower, double rightPower) { ... }
public void stop() { tankDrive(0.0, 0.0); }

SampleIntakeHardware is the minimal single-actuator subsystem (intakeIn(), intakeOut(), stop()), useful as a template for claws, launchers, and wrists.

Hardware names expected in the RC configuration: leftFront, rightFront, leftRear, rightRear, intake.

SampleAutos

Reusable, parameterized autonomous factories built on PedroAutoDsl:

// Drive one path and report progress
Command auto = SampleAutos.simpleTaxi(drive, taxiPath);

// Taxi, then cycle while running the intake in parallel
Command auto2 = SampleAutos.taxiAndCycle(drive, intake, taxiPath, cyclePath);

The factory pattern — static Command myAuto(subsystems..., paths...) — keeps routines testable and lets one Autonomous OpMode offer several routines via a selector.

Using the samples

1. Copy the files you want into your TeamCode package (adjust package lines).
2. Rename SampleDriveHardware/SampleIntakeHardware to match your robot and hardware config names.
3. For Pedro samples, create your PedroSubsystem subclass and Pedro 3 Constants first — see Command-Based Pedro.