FTCcode3

package org.usfirst.ftc.exampleteam.yourcodehere;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;

import org.swerverobotics.library.SynchronousOpMode;

/**
 * A skeletal example of a do-nothing first OpMode. Go ahead and change this code
 * to suit your needs, or create sibling OpModes adjacent to this one in the same
 * Java package.
 */
@TeleOp(name = "My First OpMode")
public class MyFirstOpMode extends SynchronousOpMode {
    /* Declare here any fields you might find useful. */
    public DcMotor motorLeft = null;
    public DcMotor motorRight = null;
    public DcMotor slide2 = null;


    public Servo pusher = null;
    public Servo P1 = null;
    public Servo P2 = null;
    public DcMotor carry = null;
    public Servo buttonPusher = null;
    @Override
    public void main() throws InterruptedException {
        /* Initialize our hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names you assigned during the robot configuration
         * step you did in the FTC Robot Controller app on the phone.
         */
        motorLeft = this.hardwareMap.dcMotor.get("motorLeft");
        motorRight = this.hardwareMap.dcMotor.get("motorRight");
        pusher = hardwareMap.servo.get("pusher");
        slide2 = hardwareMap.dcMotor.get("slide2");
        P1 = hardwareMap.servo.get("P1");
        P2 = hardwareMap.servo.get("P2");
        carry = hardwareMap.dcMotor.get("carry");
        buttonPusher = hardwareMap.servo.get("buttonPusher");
        motorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        motorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        slide2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        carry.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        boolean direction = true;
        double powerM = 5.5;
        double powerRight = 0;
        double powerLeft = 0;
        boolean pusherIn  = true;
        waitForStart();

        // Go go gadget robot!
        while (opModeIsActive()) {

            if (updateGamepads()) {

                if (gamepad1.a){
                    direction = !direction;
                }

                if (gamepad1.y){
                    powerM =  .55;
                }
                if (gamepad1.x){
                    powerM = .2;
                }


                powerLeft = gamepad1.left_stick_y;
                powerRight = gamepad1.right_stick_y;

                //reverse direction
                if (direction){
                    this.motorLeft.setPower(powerLeft * powerM);
                    this.motorRight.setPower(-powerRight * powerM);
                }
                else {
                    this.motorLeft.setPower(-powerRight * powerM);
                    this.motorRight.setPower(powerLeft * powerM);
                }


                // pusher
                if (gamepad1.dpad_up) {
                    pusher.setPosition(100);
                }
                else if (gamepad1.dpad_down) {
                    pusher.setPosition(0.5);
                }

                //buttonPusher
                if (gamepad1.b){
                    if (pusherIn){
                        buttonPusher.setPosition(0.5);
                        pusherIn = !pusherIn;
                    }
                    else{
                        buttonPusher.setPosition(100);
                        pusherIn = !pusherIn;
                    }
                }

                //higher slide bar
                if (gamepad2.left_bumper) {
                    slide2.setPower(-15);
                } else if (gamepad2.left_trigger > 0) {
                    slide2.setPower(15);
                } else {
                    slide2.setPower(0);
                }

                //pincers
                if(gamepad2.a){
                    P1.setPosition(0);
                    P2.setPosition(1);
                }
                if(gamepad2.b){
                    P1.setPosition(1);
                    P2.setPosition(0);
                }
                //lower pinser code
                if (gamepad2.dpad_down){
                    carry.setPower(25);
                }
                else if (gamepad2.dpad_up){
                    carry.setPower(-25);
                }
                else {
                    carry.setPower(0);
                }

            }

            telemetry.update();
            idle();
        }
    }
}



//auto



package org.usfirst.ftc.exampleteam.yourcodehere;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;

import org.swerverobotics.library.SynchronousOpMode;

/**
 * A skeletal example of a do-nothing first OpMode. Go ahead and change this code
 * to suit your needs, or create sibling OpModes adjacent to this one in the same
 * Java package.
 */
@Autonomous(name = "Auto")

public class Auto extends SynchronousOpMode {
    /* Declare here any fields you might find useful. */
    public DcMotor motorLeft = null;
    public DcMotor motorRight = null;
    public DcMotor slide1 = null;
    public DcMotor slide2 = null;


    public Servo pusher = null;

    @Override
    public void main() throws InterruptedException {
        /* Initialize our hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names you assigned during the robot configuration
         * step you did in the FTC Robot Controller app on the phone.
         */
        motorLeft = this.hardwareMap.dcMotor.get("motorLeft");
        motorRight = this.hardwareMap.dcMotor.get("motorRight");
        pusher = hardwareMap.servo.get("pusher");
        slide2 = hardwareMap.dcMotor.get("slide2");


        motorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        motorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        slide2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        waitForStart();

        // Go go gadget robot!
        motorLeft.setPower(-35);
        motorRight.setPower(35);
        Thread.sleep(2000);
        motorLeft.setPower(0);
        motorRight.setPower(0);

    }
}