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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;
  import com.qualcomm.robotcore.util.ElapsedTime;
  import com.qualcomm.robotcore.util.Range;
  
  
  /*
   * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
   * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
   * of the FTC Driver Station. When a selection is made from the menu, the corresponding OpMode
   * class is instantiated on the Robot Controller and executed.
   *
   * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
   * It includes all the skeletal structure that all linear OpModes contain.
   *
   * 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="Basic: Linear OpMode", group="Linear OpMode")
  @Disabled
  public class BasicOpMode_Linear extends LinearOpMode {
  
      // Declare OpMode members.
      private ElapsedTime runtime = new ElapsedTime();
      private DcMotor leftDrive = null;
      private DcMotor rightDrive = null;
  
      @Override
      public void runOpMode() {
          telemetry.addData("Status", "Initialized");
          telemetry.update();
  
          // Initialize the hardware variables. Note that the strings used here as parameters
          // to 'get' must correspond to the names assigned during the robot configuration
          // step (using the FTC Robot Controller app on the phone).
          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.
          // 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);
  
          // Wait for the game to start (driver presses START)
          waitForStart();
          runtime.reset();
  
          // run until the end of the match (driver presses STOP)
          while (opModeIsActive()) {
  
              // Setup a variable for each drive wheel to save power level for telemetry
              double leftPower;
              double rightPower;
  
              // Choose to drive using either Tank Mode, or POV Mode
              // Comment out the method that's not used.  The default below is POV.
  
              // POV Mode uses left stick to go forward, and right stick to turn.
              // - This uses basic math to combine motions and is easier to drive straight.
              double drive = -gamepad1.left_stick_y;
              double turn  =  gamepad1.right_stick_x;
              leftPower    = Range.clip(drive + turn, -1.0, 1.0) ;
              rightPower   = Range.clip(drive - turn, -1.0, 1.0) ;
  
              // Tank Mode uses one stick to control each wheel.
              // - This requires no math, but it is hard to drive forward slowly and keep straight.
              // leftPower  = -gamepad1.left_stick_y ;
              // rightPower = -gamepad1.right_stick_y ;
  
              // Send calculated power to wheels
              leftDrive.setPower(leftPower);
              rightDrive.setPower(rightPower);
  
              // Show the elapsed game time and wheel power.
              telemetry.addData("Status", "Run Time: " + runtime.toString());
              telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftPower, rightPower);
              telemetry.update();
          }
      }
  }
  