4 omni wheels driving system - ftc velcoity vortex 2017

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.DcMotorSimple;
import com.qualcomm.robotcore.robocol.TelemetryMessage;
import com.qualcomm.robotcore.util.Range;

/*
	an ftc program from 2017 velocity vortex season
	which describes how to program an 4 omni wheels driving system.
 */
@TeleOp (name ="controller", group = "Tests")
public class Chassis_Test extends LinearOpMode
{
    float frontLeft = 0, frontRight = 0, backLeft = 0, backRight = 0;
    float gamepad1LeftY = 0, gamepad1LeftX =0, gamepad1RightX = 0;
    DcMotor motorFrontRight;
    DcMotor motorFrontLeft;
    DcMotor motorBackRight;
    DcMotor motorBackLeft;

    hardware Chassis = new hardware();

    public void runOpMode() throws InterruptedException
    {
        motorFrontRight = hardwareMap.dcMotor.get("motor front right");
        motorFrontLeft = hardwareMap.dcMotor.get("motor front left");
        motorBackLeft = hardwareMap.dcMotor.get("motor back left");
        motorBackRight = hardwareMap.dcMotor.get("motor back right");

        motorFrontLeft.setDirection(DcMotor.Direction.FORWARD);
        motorFrontRight.setDirection(DcMotor.Direction.FORWARD);
        motorBackLeft.setDirection(DcMotor.Direction.FORWARD);
        motorBackRight.setDirection(DcMotor.Direction.FORWARD);
        waitForStart();
        while (opModeIsActive())
        {
            gamepad1LeftY = gamepad1.left_stick_y;
            gamepad1LeftX = -gamepad1.left_stick_x;
            gamepad1RightX = -gamepad1.right_stick_x;

            frontLeft = gamepad1LeftY + gamepad1LeftX + gamepad1RightX;
            frontRight = -gamepad1LeftY + gamepad1LeftX + gamepad1RightX;
            backRight = -gamepad1LeftY - gamepad1LeftX + gamepad1RightX;
            backLeft = gamepad1LeftY - gamepad1LeftX + gamepad1RightX;


            frontLeft = Range.clip(frontLeft, -1, 1);
            frontRight = Range.clip(frontRight, -1, 1);
            backLeft = Range.clip(backLeft, -1, 1);
            backRight = Range.clip(backRight, -1, 1);

            motorFrontRight.setPower(frontRight);
            motorFrontLeft.setPower(frontLeft);
            motorBackLeft.setPower(backLeft);
            motorBackRight.setPower(backRight);


        }
    }
}