> For the complete documentation index, see [llms.txt](https://guides.mccaskeyrobotics.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://guides.mccaskeyrobotics.org/ftc/programming.md).

# Programming

To create a new program click on the + sign which you should find near the top left of your screen. 

![](/files/rdpHPGgOIglDsoYADXXq)

Name your file. From the Sample code select `BlankLinearOpMode` and make sure to check the `TeleOp` Option.

![](/files/75oXaikUYj2FFzzTDXwt)

After you hit `OK` Your code will look something like this:

```
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.util.ElapsedTime;

@TeleOp

public class BlankLinearOpMode extends LinearOpMode {


    @Override
    public void runOpMode() {

        telemetry.addData("Status", "Initialized");
        telemetry.update();
        
        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
        
            telemetry.addData("Status", "Running");
            telemetry.update();

        }
    }
}
```

## Running your program

At the bottom right of your screen click on the wrench.

![](/files/07vqmn4JG754Ra8dJAa3)

Now open your DS app on your group’s phone and select the right-side dropdown menu. Now choose the program you just built.

Click “Init. You should now see a message on the bottom of the screen that says: “Status: Initialized”.Now click “Play”. You should now see the message on the bottom of the screen that says “Status: Running”.

![](/files/wgmyKzhbfZa3mSNoITDb)

![](/files/sGN9evMndGxpStJgdXQG)

{% hint style="success" %}
Congratulations you just wrote your first program!
{% endhint %}

You robot doesn’t do much yet.. Just send a message to the phone to tell you it’s status. Go ahead and hit the stop button to stop your program.

Before we start programming our drive motors, let’s take a minute to look at the structure of a opMode.

![](/files/9wBUn8DYjnDJQ3dHc5Qe)

This Is a comment. A comment is the code between the `/*` and `*/` symbols. It is just there to help the person writing the code understand what it does. When the robot runs this program it will skip over this section.

{% hint style="info" %}
TIP: If you only need a single line comment you can add two slashes to the begining of that line.

Example:

// Wait for the game to start
{% endhint %}

![](/files/x30GXMFw4twMpRmSlutg)

Here is where we import other code that the robot needs to run. The robot should add these automatically so you do not need to worry about editing this section  

![](/files/h3kwarKW2eOC5ULkdq9r)

This line of code tells the robot where you have to go to run your program. You have three options for this line. @Autonimous, @TeleOp, and @Disabled. The main difference between Autonomous and TeleOp is that Autonimous had a 30s timer. Disabled will hide your program from the menu and is helpful if you have a lot of programs.

Shown below is where you can find your programs.

![](/files/pa5xqSI98VbxiRkHlL6p)

![](/files/rxeKbQqiNYKrFtAJPuzh)

These line are needed to run your program. Your class name MUST match your file name. 

Your program must extend eighter `LinearOpMode` or `OpMode`. OpMode is a bit more complicated so for right now just use LinearOpMode.

![](/files/p7cep4OFNUYgdRrEEigA)

telemetry is a way the robot tells you what it is thinking. When you use the code

 `telemetry.addData("Statius", "Initialized");`

The robot will save the information you gave it until you call 

`telemetry.update();`

which then sends it to the driver.

![](/files/9T7DJqWeH6rdd0uYQWLK)

This is a while loop it will repeat anything in side the curly braces until the program ends.


---

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