B1

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/meh.java

@@ -0,0 +1,75 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.GyroSensor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode;
+import org.firstinspires.ftc.teamcode.teamMethods;
+
+@TeleOp(name="test2", group="test") //fix this
+public class meh extends teamMethods {
+    private ElapsedTime runtime = new ElapsedTime();
+
+    //these values should be determined based off hardware being used
+    /*
+    private static final double ticksPerRev = 1;
+    private static final double gearRatio = 1;
+    private static final double wheelDiameter = 1;
+    private static final double ticksPerInch = (ticksPerRev * gearRatio) / (wheelDiameter * 3.1415); //the math changes on mecanum. fix and find formula.
+    */
+
+    //Initialized by: Initialization Button (i think)
+    public void init() {
+        telemetry.addData("Status", "Initializing");
+
+        // 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).
+        leftDriveFront  = hardwareMap.get(DcMotor.class, "left_drive_front");
+        leftDriveBack = hardwareMap.get(DcMotor.class, "left_drive_back");
+        rightDriveFront = hardwareMap.get(DcMotor.class, "right_drive_front");
+        rightDriveBack = hardwareMap.get(DcMotor.class, "right_drive_back");
+        robotGyro = hardwareMap.get(GyroSensor.class,"gyrosensor");
+
+        // Most robots need the motor on one side to be reversed to drive forward
+        // Reverse the motor that runs backwards when connected directly to the battery
+        leftDriveFront.setDirection(DcMotor.Direction.FORWARD);
+        leftDriveBack.setDirection(DcMotor.Direction.FORWARD);
+        rightDriveFront.setDirection(DcMotor.Direction.REVERSE);
+        rightDriveBack.setDirection(DcMotor.Direction.REVERSE);
+
+        telemetry.addData("Encoders and GyroSensor","Resetting");
+        leftDriveFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        leftDriveBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightDriveFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightDriveBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robotGyro.calibrate();
+
+        leftDriveFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        leftDriveBack.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDriveFront.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDriveBack.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        // Tell the driver that initialization is complete.
+        telemetry.addData("Status", "Initialized");
+    }
+
+    //Initialized by: Start / runs once
+    @Override
+    public void start() {
+        runtime.reset();
+    }
+
+
+    //Initialized by: After Start, Before Stop / loops
+    @Override
+    public void loop() {
+    }
+
+    //Initialized by: Stop / runs once
+    @Override
+    public void stop() {}
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teamMethods.java

@@ -15,8 +15,9 @@ public abstract class teamMethods extends OpMode {
     public GyroSensor robotGyro = null;
 
     //X = a, Y = b
-    private final double Xdistance = 8;
-    private final double Ydistance = 8;
+    //The distances are in inches
+    private final double Xdistance = 9.27;
+    private final double Ydistance = 10.02;
     private double XYcombinedD = Xdistance + Ydistance;
 
     private static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder