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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.hardware.DcMotor;
  import com.qualcomm.robotcore.util.ElapsedTime;
  
  /*
   * This OpMode illustrates the concept of driving a path based on encoder counts.
   * The code is structured as a LinearOpMode
   *
   * The code REQUIRES that you DO have encoders on the wheels,
   *   otherwise you would use: RobotAutoDriveByTime;
   *
   *  This code ALSO requires that the drive Motors have been configured such that a positive
   *  power command moves them forward, and causes the encoders to count UP.
   *
   *   The desired path in this example is:
   *   - Drive forward for 48 inches
   *   - Spin right for 12 Inches
   *   - Drive Backward for 24 inches
   *   - Stop and close the claw.
   *
   *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
   *  that performs the actual movement.
   *  This method assumes that each movement is relative to the last stopping place.
   *  There are other ways to perform encoder based moves, but this method is probably the simplest.
   *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
   *
   * 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
   */
  
  @Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
  @Disabled
  public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
  
      /* Declare OpMode members. */
      private DcMotor         leftDrive   = null;
      private DcMotor         rightDrive  = null;
  
      private ElapsedTime     runtime = new ElapsedTime();
  
      // Calculate the COUNTS_PER_INCH for your specific drive train.
      // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
      // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
      // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
      // This is gearing DOWN for less speed and more torque.
      // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
      static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
      static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
      static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
      static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
                                                        (WHEEL_DIAMETER_INCHES * 3.1415);
      static final double     DRIVE_SPEED             = 0.6;
      static final double     TURN_SPEED              = 0.5;
  
      @Override
      public void runOpMode() {
  
          // Initialize the drive system variables.
          leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
          rightDrive = hardwareMap.get(DcMotor.class, "right_drive");
  
          // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
          // When run, this OpMode should start both motors driving 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);
  
          leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
          rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
  
          leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
          rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
  
          // Send telemetry message to indicate successful Encoder reset
          telemetry.addData("Starting at",  "%7d :%7d",
                            leftDrive.getCurrentPosition(),
                            rightDrive.getCurrentPosition());
          telemetry.update();
  
          // Wait for the game to start (driver presses START)
          waitForStart();
  
          // Step through each leg of the path,
          // Note: Reverse movement is obtained by setting a negative distance (not speed)
          encoderDrive(DRIVE_SPEED,  48,  48, 5.0);  // S1: Forward 47 Inches with 5 Sec timeout
          encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
          encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout
  
          telemetry.addData("Path", "Complete");
          telemetry.update();
          sleep(1000);  // pause to display final telemetry message.
      }
  
      /*
       *  Method to perform a relative move, based on encoder counts.
       *  Encoders are not reset as the move is based on the current position.
       *  Move will stop if any of three conditions occur:
       *  1) Move gets to the desired position
       *  2) Move runs out of time
       *  3) Driver stops the OpMode running.
       */
      public void encoderDrive(double speed,
                               double leftInches, double rightInches,
                               double timeoutS) {
          int newLeftTarget;
          int newRightTarget;
  
          // Ensure that the OpMode is still active
          if (opModeIsActive()) {
  
              // Determine new target position, and pass to motor controller
              newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
              newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
              leftDrive.setTargetPosition(newLeftTarget);
              rightDrive.setTargetPosition(newRightTarget);
  
              // Turn On RUN_TO_POSITION
              leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
              rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
  
              // reset the timeout time and start motion.
              runtime.reset();
              leftDrive.setPower(Math.abs(speed));
              rightDrive.setPower(Math.abs(speed));
  
              // keep looping while we are still active, and there is time left, and both motors are running.
              // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
              // its target position, the motion will stop.  This is "safer" in the event that the robot will
              // always end the motion as soon as possible.
              // However, if you require that BOTH motors have finished their moves before the robot continues
              // onto the next step, use (isBusy() || isBusy()) in the loop test.
              while (opModeIsActive() &&
                     (runtime.seconds() < timeoutS) &&
                     (leftDrive.isBusy() && rightDrive.isBusy())) {
  
                  // Display it for the driver.
                  telemetry.addData("Running to",  " %7d :%7d", newLeftTarget,  newRightTarget);
                  telemetry.addData("Currently at",  " at %7d :%7d",
                                              leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
                  telemetry.update();
              }
  
              // Stop all motion;
              leftDrive.setPower(0);
              rightDrive.setPower(0);
  
              // Turn off RUN_TO_POSITION
              leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
              rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
  
              sleep(250);   // optional pause after each move.
          }
      }
  }
  