HardwareMap21.java

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.CRServo;
import com.qualcomm.robotcore.util.ElapsedTime;

public class HardwareMap21
{

    // motors
    public DcMotor leftDrive  = null;
    public DcMotor rightDrive = null;
    public DcMotor intake = null;
    public DcMotor outtake = null;
    public DcMotor carousel = null;

    /* local OpMode members. */
    HardwareMap hwMap           =  null;

    /* Constructor */
    public HardwareMap21(){

    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
        // reference to hardware map
        hwMap = ahwMap;

        // define and initialize motors & servos
        leftDrive  = hwMap.get(DcMotor.class, "leftDrive");
        rightDrive = hwMap.get(DcMotor.class, "rightDrive");
        carousel = hwMap.get(DcMotor.class, "carousel");
        intake = hwMap.get(DcMotor.class, "intake");
        outtake = hwMap.get(DcMotor.class, "outtake");

        //TODO: figure out
        WebcamName webcamName = hardwareMap.get(WebcamName.class, "camera")


        // set power for motors
        leftDrive.setPower(0);
        rightDrive.setPower(0);
        intake.setPower(0);
        outtake.setPower(0);
        carousel.setPower(0);

        // set mode (use encoder!)
        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        outtake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        carousel.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        // set direction
        leftDrive.setDirection(DcMotor.Direction.FORWARD);
        rightDrive.setDirection(DcMotor.Direction.REVERSE);
        intake.setDirection(DcMotor.Direction.FORWARD);
        outtake.setDirection(DcMotor.Direction.FORWARD);
        carousel.setDirection(DcMotor.Direction.REVERSE);

    }
}