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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import com.qualcomm.robotcore.hardware.DcMotor;
  
  /*
   * This OpMode ramps a single motor speed up and down repeatedly until Stop is pressed.
   * The code is structured as a LinearOpMode
   *
   * This code assumes a DC motor configured with the name "left_drive" as is found on a Robot.
   *
   * INCREMENT sets how much to increase/decrease the power each cycle
   * CYCLE_MS sets the update period.
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
   */
  @TeleOp(name = "Concept: Ramp Motor Speed", group = "Concept")
  @Disabled
  public class ConceptRampMotorSpeed extends LinearOpMode {
  
      static final double INCREMENT   = 0.01;     // amount to ramp motor each CYCLE_MS cycle
      static final int    CYCLE_MS    =   50;     // period of each cycle
      static final double MAX_FWD     =  1.0;     // Maximum FWD power applied to motor
      static final double MAX_REV     = -1.0;     // Maximum REV power applied to motor
  
      // Define class members
      DcMotor motor;
      double  power   = 0;
      boolean rampUp  = true;
  
  
      @Override
      public void runOpMode() {
  
          // Connect to motor (Assume standard left wheel)
          // Change the text in quotes to match any motor name on your robot.
          motor = hardwareMap.get(DcMotor.class, "left_drive");
  
          // Wait for the start button
          telemetry.addData(">", "Press Start to run Motors." );
          telemetry.update();
          waitForStart();
  
          // Ramp motor speeds till stop pressed.
          while(opModeIsActive()) {
  
              // Ramp the motors, according to the rampUp variable.
              if (rampUp) {
                  // Keep stepping up until we hit the max value.
                  power += INCREMENT ;
                  if (power >= MAX_FWD ) {
                      power = MAX_FWD;
                      rampUp = !rampUp;   // Switch ramp direction
                  }
              }
              else {
                  // Keep stepping down until we hit the min value.
                  power -= INCREMENT ;
                  if (power <= MAX_REV ) {
                      power = MAX_REV;
                      rampUp = !rampUp;  // Switch ramp direction
                  }
              }
  
              // Display the current value
              telemetry.addData("Motor Power", "%5.2f", power);
              telemetry.addData(">", "Press Stop to end test." );
              telemetry.update();
  
              // Set the motor to the new power and pause;
              motor.setPower(power);
              sleep(CYCLE_MS);
              idle();
          }
  
          // Turn off motor and signal done;
          motor.setPower(0);
          telemetry.addData(">", "Done");
          telemetry.update();
  
      }
  }
  