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DriverControl.java

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+package org.firstinspires.ftc.teamcode;
+
+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;
+
+
+@TeleOp(name = "DriveControl", group = "TeleOp")
+public class DriverControl extends LinearOpMode
+{
+
+    private DcMotor FRMotor;
+    private DcMotor FLMotor;
+    private DcMotor BRMotor;
+    private DcMotor BLMotor;
+    private Servo Hook;
+
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+
+        FRMotor = hardwareMap.dcMotor.get("FRMotor");
+        FLMotor = hardwareMap.dcMotor.get("FLMotor");
+        BRMotor = hardwareMap.dcMotor.get("BRMotor");
+        BLMotor = hardwareMap.dcMotor.get("BLMotor");
+        Hook = hardwareMap.servo.get("Hook");
+
+
+        waitForStart();
+
+        while(opModeIsActive())
+        {
+            FRMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            FLMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            BRMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            BLMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+            double FLspeed = gamepad1.left_stick_y - gamepad1.left_stick_x;
+            double BLspeed = gamepad1.left_stick_y + gamepad1.left_stick_x;
+            double FRspeed = gamepad1.left_stick_y + gamepad1.left_stick_x;
+            double BRspeed = gamepad1.left_stick_y - gamepad1.left_stick_x;
+            double RSpeed = gamepad1.right_stick_x;
+
+            //cuts the speed value of the motors to not be <1 or >1
+            FLspeed = Range.clip(FLspeed, -1, 1);
+            BLspeed = Range.clip(BLspeed, -1, 1);
+            FRspeed = Range.clip(FRspeed, -1, 1);
+            BRspeed = Range.clip(BRspeed, -1, 1);
+
+            if (gamepad1.right_stick_x == 0)
+            {
+
+                FRMotor.setPower(FRspeed);
+                BLMotor.setPower(BLspeed);
+                FLMotor.setPower(FLspeed);
+                BRMotor.setPower(BRspeed);
+
+            }else
+                {
+                    FRMotor.setPower(RSpeed);
+                    BLMotor.setPower(-RSpeed);
+                    FLMotor.setPower(-RSpeed);
+                    BRMotor.setPower(RSpeed);
+
+                }
+            if (gamepad2.a)
+            {
+                Hook.setPosition(1);
+
+            }else if (gamepad2.b)
+            {
+                Hook.setPosition(-1);
+            }
+
+
+            idle();
+        }
+    }
+}