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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.hardware.Servo;
  import com.qualcomm.robotcore.util.Range;
  
  /*
   * This OpMode executes a POV Game style Teleop for a direct drive robot
   * The code is structured as a LinearOpMode
   *
   * In this mode the left stick moves the robot FWD and back, the Right stick turns left and right.
   * It raises and lowers the arm 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 POV", group="Robot")
  @Disabled
  public class RobotTeleopPOV_Linear extends LinearOpMode {
  
      /* 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    =  0.45 ;
      public static final double ARM_DOWN_POWER  = -0.45 ;
  
      @Override
      public void runOpMode() {
          double left;
          double right;
          double drive;
          double turn;
          double max;
  
          // 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 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.
          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.");    //
          telemetry.update();
  
          // Wait for the game to start (driver presses START)
          waitForStart();
  
          // run until the end of the match (driver presses STOP)
          while (opModeIsActive()) {
  
              // Run wheels in POV mode (note: The joystick goes negative when pushed forward, so negate it)
              // In this mode the Left stick moves the robot fwd and back, the Right stick turns left and right.
              // This way it's also easy to just drive straight, or just turn.
              drive = -gamepad1.left_stick_y;
              turn  =  gamepad1.right_stick_x;
  
              // Combine drive and turn for blended motion.
              left  = drive + turn;
              right = drive - turn;
  
              // Normalize the values so neither exceed +/- 1.0
              max = Math.max(Math.abs(left), Math.abs(right));
              if (max > 1.0)
              {
                  left /= max;
                  right /= max;
              }
  
              // Output the safe vales to the motor drives.
              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 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);
              telemetry.update();
  
              // Pace this loop so jaw action is reasonable speed.
              sleep(50);
          }
      }
  }
  