teleop19.2

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;


@TeleOp(name = "Test_driving")
public class Main_Teleop extends LinearOpMode {
    HardWare11226 hardware = new HardWare11226();

    @Override
    public void runOpMode() throws InterruptedException {
        double left_Power, right_Power, full_Power;

        hardware.init(hardwareMap);

        waitForStart();

        while (opModeIsActive())
        {
            left_Power = gamepad1.left_stick_y;
            right_Power = gamepad1.right_stick_y;
            if (!gamepad1.left_bumper && !gamepad1.right_bumper)
            {
                driving(left_Power, right_Power);
            }
            else
            {
                straightdriving();
            }
              collect();
        }
    }

    private void driving(double p_left, double p_right)
    {
        if (p_left > 0.2 || p_left < -0.2)
        {
            hardware.leftMotor.setPower(p_left);
        }
        else
        {
            hardware.leftMotor.setPower(0);
        }
        if (p_right > 0.2 || p_right < -0.2)
        {
            hardware.rightMotor.setPower(p_right);
        }
        else
        {
            hardware.rightMotor.setPower(0);
        }
    }

    private void collect()
    {
        if (gamepad2.left_bumper && !gamepad2.right_bumper)
        {
            hardware.collectMotor.setPower(-1);
        }
        else if(gamepad2.right_bumper && !gamepad2.left_bumper)
        {
            hardware.collectMotor.setPower(0.4);
        }
        else
        {
            hardware.collectMotor.setPower(0);
        }

    }

    private void straightdriving()
    {
        if (gamepad1.right_bumper)
        {
            hardware.leftMotor.setPower(0.5);
            hardware.rightMotor.setPower(0.5);
        }
        else if (gamepad1.left_bumper)
        {
            hardware.leftMotor.setPower(-0.5);
            hardware.rightMotor.setPower(-0.5);
        }

    }
}