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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.hardware.DcMotor;
  import com.qualcomm.robotcore.hardware.Servo;
  import com.qualcomm.robotcore.util.Range;
  
  /*
   * This file works in conjunction with the External Hardware Class sample called: ConceptExternalHardwareClass.java
   * Please read the explanations in that Sample about how to use this class definition.
   *
   * This file defines a Java Class that performs all the setup and configuration for a sample robot's hardware (motors and sensors).
   * It assumes three motors (left_drive, right_drive and arm) and two servos (left_hand and right_hand)
   *
   * This one file/class can be used by ALL of your OpModes without having to cut & paste the code each time.
   *
   * Where possible, the actual hardware objects are "abstracted" (or hidden) so the OpMode code just makes calls into the class,
   * rather than accessing the internal hardware directly. This is why the objects are declared "private".
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with *exactly the same name*.
   *
   * Or... In OnBot Java, add a new file named RobotHardware.java, select this sample, and select Not an OpMode.
   * Also add a new OpMode, select the sample ConceptExternalHardwareClass.java, and select TeleOp.
   *
   */
  
  public class RobotHardware {
  
      /* Declare OpMode members. */
      private LinearOpMode myOpMode = null;   // gain access to methods in the calling OpMode.
  
      // Define Motor and Servo objects  (Make them private so they can't be accessed externally)
      private DcMotor leftDrive   = null;
      private DcMotor rightDrive  = null;
      private DcMotor armMotor = null;
      private Servo   leftHand = null;
      private Servo   rightHand = null;
  
      // Define Drive constants.  Make them public so they CAN be used by the calling OpMode
      public static final double MID_SERVO       =  0.5 ;
      public static final double HAND_SPEED      =  0.02 ;  // sets rate to move servo
      public static final double ARM_UP_POWER    =  0.45 ;
      public static final double ARM_DOWN_POWER  = -0.45 ;
  
      // Define a constructor that allows the OpMode to pass a reference to itself.
      public RobotHardware (LinearOpMode opmode) {
          myOpMode = opmode;
      }
  
      /**
       * Initialize all the robot's hardware.
       * This method must be called ONCE when the OpMode is initialized.
       * <p>
       * All of the hardware devices are accessed via the hardware map, and initialized.
       */
      public void init()    {
          // Define and Initialize Motors (note: need to use reference to actual OpMode).
          leftDrive  = myOpMode.hardwareMap.get(DcMotor.class, "left_drive");
          rightDrive = myOpMode.hardwareMap.get(DcMotor.class, "right_drive");
          armMotor   = myOpMode.hardwareMap.get(DcMotor.class, "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 stick 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.
          leftHand = myOpMode.hardwareMap.get(Servo.class, "left_hand");
          rightHand = myOpMode.hardwareMap.get(Servo.class, "right_hand");
          leftHand.setPosition(MID_SERVO);
          rightHand.setPosition(MID_SERVO);
  
          myOpMode.telemetry.addData(">", "Hardware Initialized");
          myOpMode.telemetry.update();
      }
  
      /**
       * Calculates the left/right motor powers required to achieve the requested
       * robot motions: Drive (Axial motion) and Turn (Yaw motion).
       * Then sends these power levels to the motors.
       *
       * @param Drive     Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
       * @param Turn      Right/Left turning power (-1.0 to 1.0) +ve is CW
       */
      public void driveRobot(double Drive, double Turn) {
          // Combine drive and turn for blended motion.
          double left  = Drive + Turn;
          double right = Drive - Turn;
  
          // Scale the values so neither exceed +/- 1.0
          double max = Math.max(Math.abs(left), Math.abs(right));
          if (max > 1.0)
          {
              left /= max;
              right /= max;
          }
  
          // Use existing function to drive both wheels.
          setDrivePower(left, right);
      }
  
      /**
       * Pass the requested wheel motor powers to the appropriate hardware drive motors.
       *
       * @param leftWheel     Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
       * @param rightWheel    Fwd/Rev driving power (-1.0 to 1.0) +ve is forward
       */
      public void setDrivePower(double leftWheel, double rightWheel) {
          // Output the values to the motor drives.
          leftDrive.setPower(leftWheel);
          rightDrive.setPower(rightWheel);
      }
  
      /**
       * Pass the requested arm power to the appropriate hardware drive motor
       *
       * @param power driving power (-1.0 to 1.0)
       */
      public void setArmPower(double power) {
          armMotor.setPower(power);
      }
  
      /**
       * Send the two hand-servos to opposing (mirrored) positions, based on the passed offset.
       *
       * @param offset
       */
      public void setHandPositions(double offset) {
          offset = Range.clip(offset, -0.5, 0.5);
          leftHand.setPosition(MID_SERVO + offset);
          rightHand.setPosition(MID_SERVO - offset);
      }
  }
  