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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 time.
   * The code is structured as a LinearOpMode
   *
   * The code assumes that you do NOT have encoders on the wheels,
   *   otherwise you would use: RobotAutoDriveByEncoder;
   *
   *   The desired path in this example is:
   *   - Drive forward for 3 seconds
   *   - Spin right for 1.3 seconds
   *   - Drive Backward for 1 Second
   *
   *  The code is written in a simple form with no optimizations.
   *  However, there are several ways that this type of sequence could be streamlined,
   *
   * 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 Time", group="Robot")
  @Disabled
  public class RobotAutoDriveByTime_Linear extends LinearOpMode {
  
      /* Declare OpMode members. */
      private DcMotor         leftDrive   = null;
      private DcMotor         rightDrive  = null;
  
      private ElapsedTime     runtime = new ElapsedTime();
  
  
      static final double     FORWARD_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);
  
          // Send telemetry message to signify robot waiting;
          telemetry.addData("Status", "Ready to run");    //
          telemetry.update();
  
          // Wait for the game to start (driver presses START)
          waitForStart();
  
          // Step through each leg of the path, ensuring that the OpMode has not been stopped along the way.
  
          // Step 1:  Drive forward for 3 seconds
          leftDrive.setPower(FORWARD_SPEED);
          rightDrive.setPower(FORWARD_SPEED);
          runtime.reset();
          while (opModeIsActive() && (runtime.seconds() < 3.0)) {
              telemetry.addData("Path", "Leg 1: %4.1f S Elapsed", runtime.seconds());
              telemetry.update();
          }
  
          // Step 2:  Spin right for 1.3 seconds
          leftDrive.setPower(TURN_SPEED);
          rightDrive.setPower(-TURN_SPEED);
          runtime.reset();
          while (opModeIsActive() && (runtime.seconds() < 1.3)) {
              telemetry.addData("Path", "Leg 2: %4.1f S Elapsed", runtime.seconds());
              telemetry.update();
          }
  
          // Step 3:  Drive Backward for 1 Second
          leftDrive.setPower(-FORWARD_SPEED);
          rightDrive.setPower(-FORWARD_SPEED);
          runtime.reset();
          while (opModeIsActive() && (runtime.seconds() < 1.0)) {
              telemetry.addData("Path", "Leg 3: %4.1f S Elapsed", runtime.seconds());
              telemetry.update();
          }
  
          // Step 4:  Stop
          leftDrive.setPower(0);
          rightDrive.setPower(0);
  
          telemetry.addData("Path", "Complete");
          telemetry.update();
          sleep(1000);
      }
  }
  