The Two Types of Op Modes:
This is the where the robot moves on its own. This is during the first 30 seconds of the game, and the program usually includes sensors to help the robot navigate the field on its own. The robot runs entirely on a program that has certain steps for it to take.
This is the driver controlled period of a competition. This is during the next 2 minutes of the robot game, after Autonomous. The robot is now controlled by the 2 drivers, using controllers connected to the Driver Station phone. The TeleOp is the program the robot runs on that allows the controller to make the robot move.
If you want a thorough explanation of how to create a TeleOp from scratch, please watch our video: