From 6fc583ad4c9729a6dac37fca08b71b15c06c219d Mon Sep 17 00:00:00 2001
From: blazeboy75 <>
Date: Thu, 25 Nov 2021 19:38:17 -0700
Subject: [PATCH] Milo is very picky

---
 .../ftc/teamcode/StarterTeleOp.java           | 30 ++++++++++++++-----
 1 file changed, 22 insertions(+), 8 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/StarterTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/StarterTeleOp.java
index 30db15d6ba9a..042720542962 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/StarterTeleOp.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/StarterTeleOp.java
@@ -32,17 +32,10 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
-//import com.qualcomm.robotcore.hardware.DcMotorController;
 import com.qualcomm.robotcore.util.ElapsedTime;
 import com.qualcomm.robotcore.util.Range;
 
-//import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-//import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-//import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-//import com.qualcomm.robotcore.hardware.DcMotor;
-//import com.qualcomm.robotcore.hardware.DcMotorSimple;
-//import com.qualcomm.robotcore.util.ElapsedTime;
-//import com.qualcomm.robotcore.util.Range;
+
 
 /** This file contains an example of an iterative (Non-Linear) "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
@@ -56,8 +49,10 @@
  * Use Android Studios 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="Starter TeleOp", group="Iterative Opmode")
 
+
 // @Disabled
 public class StarterTeleOp extends OpMode
 {
@@ -68,6 +63,8 @@ public class StarterTeleOp extends OpMode
     private DcMotor backL = null;
     private DcMotor backR = null;
 
+
+
     /** Code to run ONCE when the driver hits INIT. */
     @Override
     public void init() {
@@ -100,17 +97,24 @@ public void init() {
         telemetry.addData("Status", "Initialized");
     }
 
+
+
     /** Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY. */
     @Override
     public void init_loop() {
     }
 
+
+
+
     /** Code to run ONCE when the driver hits PLAY. */
     @Override
     public void start() {
         runtime.reset();
     }
 
+
+
     /** Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP. */
     @Override
     public void loop() {
@@ -120,6 +124,8 @@ public void loop() {
         double leftBPower ;
         double rightBPower;
 
+
+
         /**POV Mode uses right stick to go forward, and left stick to turn
          *  will be combined in later release.
          *  This uses basic math to combine motions and is easier to drive straight. */
@@ -127,6 +133,8 @@ public void loop() {
         double turn  =  gamepad1.right_stick_x;
         double strafe = gamepad1.left_stick_x;
 
+
+
          if (strafe !=0){
             /** Untested on the robot. May need to be reversed or changed entirely. */
              leftFPower = -strafe;
@@ -134,12 +142,16 @@ public void loop() {
              leftBPower =  strafe;
              rightBPower = -strafe;
         }
+
+
         else if(drive !=0 || turn !=0) {
           leftFPower = Range.clip(drive + turn, -1.0, 1.0);
             rightFPower = Range.clip(drive - turn, -1.0, 1.0);
             leftBPower = Range.clip(drive + turn, -1.0, 1.0);
             rightBPower = Range.clip(drive - turn, -1.0, 1.0);
         }
+
+
         else{
             leftFPower = 0;
             rightFPower = 0;
@@ -147,12 +159,14 @@ else if(drive !=0 || turn !=0) {
             rightBPower = 0;
         }
 
+
         /**Send calculated power to wheels. */
         frontL.setPower(leftFPower);
         backL.setPower(leftBPower);
         frontR.setPower(rightFPower);
         backR.setPower(rightBPower);
 
+
         /**  Show the elapsed game time and wheel power. */
         telemetry.addData("Status", "Run Time: " + runtime.toString());
         telemetry.addData("Motors", "left (%.2f), right (%.2f)", leftFPower, rightFPower);