BasicTeleop.java

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package org.firstinspires.ftc.teamcode;

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


@TeleOp(name="BasicTeleop", group="TeleOp")

public class BasicTeleop extends LinearOpMode {

    // declare opmode members
    HardwareMap21 robot = new HardwareMap21();
    private ElapsedTime runtime = new ElapsedTime();
    double leftPower = 0;
    double rightPower = 0;

    @Override
    public void runOpMode() {

        // update telemetry
        telemetry.addData("Status", "Initialized");
        robot.init(hardwareMap);
        telemetry.update();

        // set run mode
        robot.leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.outtake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        robot.carousel.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        // set direction of wheels -need to rename and change
        robot.leftDrive.setDirection(DcMotor.Direction.REVERSE);
        robot.rightDrive.setDirection(DcMotor.Direction.FORWARD);
        robot.intake.setDirection(DcMotor.Direction.FORWARD);
        robot.outtake.setDirection(DcMotor.Direction.FORWARD);
        robot.carousel.setDirection(DcMotor.Direction.FORWARD);

        // wait for driver to press start
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            // POV Mode uses left stick to go forward, and right stick to turn.
            // uses basic math to combine motions and is easier to drive straight.
            double drive = gamepad1.left_stick_y;
            double turn  = -gamepad1.right_stick_x;
            leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
            rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;

            robot.leftDrive.setPower(leftPower);
            robot.rightDrive.setPower(rightPower);

            // strafing
            // robot.leftDrive.setPower((gamepad1.left_stick_y +  gamepad1.left_stick_x - gamepad1.right_stick_x) * (-speedAdjust / 10));
            // robot.rightDrive.setPower((gamepad1.left_stick_y - gamepad1.left_stick_x + gamepad1.right_stick_x) * (-speedAdjust / 10));

            // a & b buttons - spin carousel
            // TODO: TEST
            while (gamepad1.a) {
              if (robot.carousel.GetPosition() < 1800) {
                robot.carousel.setPower(5);
              }
              else {
                robot.carousel.setPower(10);
              }
            }

            while (gamepad1.a) {
              if (robot.carousel.GetPosition() < 1800) {
                robot.carousel.setPower(-5);
              }
              else {
                robot.carousel.setPower(-10);
              }
            }

            // x & y buttons - control the outtake
            if (gamepad2.x) {
                robot.outtake.setPower(1);
            } else if (gamepad2.y) {
                robot.outtake.setPower(-1);
            } else {
                robot.outtake.setPower(0);
            }

            // right & left triggers  - control intake
            if (gamepad2.a) {
                robot.intake.setPower(1);
            } else if (gamepad2.b) {
                robot.intake.setPower(-1);
            } else {
                robot.intake.setPower(0);
            }

            // show the elapsed game time and wheel power
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
            telemetry.update();
        }
    }
}