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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;
  import com.qualcomm.robotcore.hardware.DcMotor;
  import com.qualcomm.robotcore.hardware.Servo;
  import com.qualcomm.robotcore.util.Range;
  
  /*
   * This OpMode executes a Tank Drive control TeleOp a direct drive robot
   * The code is structured as an Iterative OpMode
   *
   * In this mode, the left and right joysticks control the left and right motors respectively.
   * Pushing a joystick forward will make the attached motor drive forward.
   * It raises and lowers the claw using the Gamepad Y and A buttons respectively.
   * It also opens and closes the claws slowly using the left and right Bumper buttons.
   *
   * 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="Robot: Teleop Tank", group="Robot")
  @Disabled
  public class RobotTeleopTank_Iterative extends OpMode{
  
      /* Declare OpMode members. */
      public DcMotor  leftDrive   = null;
      public DcMotor  rightDrive  = null;
      public DcMotor  leftArm     = null;
      public Servo    leftClaw    = null;
      public Servo    rightClaw   = null;
  
      double clawOffset = 0;
  
      public static final double MID_SERVO   =  0.5 ;
      public static final double CLAW_SPEED  = 0.02 ;        // sets rate to move servo
      public static final double ARM_UP_POWER    =  0.50 ;   // Run arm motor up at 50% power
      public static final double ARM_DOWN_POWER  = -0.25 ;   // Run arm motor down at -25% power
  
      /*
       * Code to run ONCE when the driver hits INIT
       */
      @Override
      public void init() {
          // Define and Initialize Motors
          leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
          rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
          leftArm    = hardwareMap.get(DcMotor.class, "left_arm");
  
          // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
          // Pushing the left and right sticks forward MUST make robot go forward. So adjust these two lines based on your first test drive.
          // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
          leftDrive.setDirection(DcMotor.Direction.REVERSE);
          rightDrive.setDirection(DcMotor.Direction.FORWARD);
  
          // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
          // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
          // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
  
          // Define and initialize ALL installed servos.
          leftClaw  = hardwareMap.get(Servo.class, "left_hand");
          rightClaw = hardwareMap.get(Servo.class, "right_hand");
          leftClaw.setPosition(MID_SERVO);
          rightClaw.setPosition(MID_SERVO);
  
          // Send telemetry message to signify robot waiting;
          telemetry.addData(">", "Robot Ready.  Press START.");    //
      }
  
      /*
       * Code to run REPEATEDLY after the driver hits INIT, but before they hit START
       */
      @Override
      public void init_loop() {
      }
  
      /*
       * Code to run ONCE when the driver hits START
       */
      @Override
      public void start() {
      }
  
      /*
       * Code to run REPEATEDLY after the driver hits START but before they hit STOP
       */
      @Override
      public void loop() {
          double left;
          double right;
  
          // Run wheels in tank mode (note: The joystick goes negative when pushed forward, so negate it)
          left = -gamepad1.left_stick_y;
          right = -gamepad1.right_stick_y;
  
          leftDrive.setPower(left);
          rightDrive.setPower(right);
  
          // Use gamepad left & right Bumpers to open and close the claw
          if (gamepad1.right_bumper)
              clawOffset += CLAW_SPEED;
          else if (gamepad1.left_bumper)
              clawOffset -= CLAW_SPEED;
  
          // Move both servos to new position.  Assume servos are mirror image of each other.
          clawOffset = Range.clip(clawOffset, -0.5, 0.5);
          leftClaw.setPosition(MID_SERVO + clawOffset);
          rightClaw.setPosition(MID_SERVO - clawOffset);
  
          // Use gamepad buttons to move the arm up (Y) and down (A)
          if (gamepad1.y)
              leftArm.setPower(ARM_UP_POWER);
          else if (gamepad1.a)
              leftArm.setPower(ARM_DOWN_POWER);
          else
              leftArm.setPower(0.0);
  
          // Send telemetry message to signify robot running;
          telemetry.addData("claw",  "Offset = %.2f", clawOffset);
          telemetry.addData("left",  "%.2f", left);
          telemetry.addData("right", "%.2f", right);
      }
  
      /*
       * Code to run ONCE after the driver hits STOP
       */
      @Override
      public void stop() {
      }
  }
  