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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.OpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  
  /*
   * Demonstrates how to use an OpMode to store data in the blackboard and retrieve it.
   * This is useful for storing information in Auto and then retrieving it in your TeleOp.
   *
   * Be aware that this is NOT saved across power reboots or downloads or robot resets.
   *
   * You also need to make sure that both the storing and retrieving are done using the same
   * type.   For example, storing a Double in the blackboard and retrieving it as an Integer
   * will fail when you typecast it.
   *
   * The blackboard is a standard hashmap so you can use methods like:
   * put, get, containsKey, remove, etc.
   */
  @TeleOp(name = "Concept: Blackboard", group = "Concept")
  @Disabled
  public class ConceptBlackboard extends OpMode {
      // We use constants here so we won't have the problem of typos in different places when we
      // meant to refer to the same thing.
      public static final String TIMES_STARTED_KEY = "Times started";
      public static final String ALLIANCE_KEY = "Alliance";
  
      /**
       * This method will be called once, when the INIT button is pressed.
       */
      @Override
      public void init() {
          // This gets us what is in the blackboard or the default if it isn't in there.
          Object timesStarted = blackboard.getOrDefault(TIMES_STARTED_KEY, 0);
          blackboard.put(TIMES_STARTED_KEY, (int) timesStarted + 1);
  
          telemetry.addData("OpMode started times", blackboard.get(TIMES_STARTED_KEY));
      }
  
      /**
       * This method will be called repeatedly during the period between when
       * the START button is pressed and when the OpMode is stopped.
       * <p>
       * If the left bumper is pressed it will store the value "RED" in the blackboard for alliance.
       * If the right bumper is pressed it will store the value "BLUE" in the blackboard for alliance.
       * <p>
       * You'll notice that if you quit the OpMode and come back in, the value will persist.
       */
      @Override
      public void loop() {
          if (gamepad1.left_bumper) {
              blackboard.put(ALLIANCE_KEY, "RED");
          } else if (gamepad1.right_bumper) {
              blackboard.put(ALLIANCE_KEY, "BLUE");
          }
          telemetry.addData("Alliance", blackboard.get(ALLIANCE_KEY));
      }
  }
  