hardware 28/2

package org.firstinspires.ftc.teamcode.TeleopAndHardWare;

import com.qualcomm.hardware.adafruit.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cColorSensor;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.OpticalDistanceSensor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import android.hardware.Sensor;
import android.hardware.SensorEvent;


/**
 * Motor channel:  Left  drive motor:        "left_motor"
 * Motor channel:  Right drive motor:        "right_motor"
 */
public class HardWare11226 {
    /* Public OpMode members. */
    public DcMotor leftMotor = null;
    public DcMotor rightMotor = null;
    public DcMotor collectMotor = null;
    public DcMotor shootingMotor = null;
    public Servo shootingServo = null;
    //public DcMotor capBallMotor = null;
    //public Servo capBallServo = null;
    //    sensors

    public ModernRoboticsI2cGyro gyro_sensor = null;
    public ModernRoboticsI2cColorSensor color_sensor_blue = null;
    public ModernRoboticsI2cColorSensor color_sensor_red = null;


    /* local OpMode members. */
    HardwareMap hwMap = null;
    private ElapsedTime period = new ElapsedTime();
    private static HardWare11226 m_instance = null;

    /* Constructor */
    public HardWare11226() {
    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
        // Save reference to Hardware map
        hwMap = ahwMap;

        // Define and Initialize Motors
        leftMotor = hwMap.dcMotor.get("left_motor");
        rightMotor = hwMap.dcMotor.get("right_motor");
        collectMotor = hwMap.dcMotor.get("collect_motor");
        shootingMotor = hwMap.dcMotor.get("shooting_motor");
         shootingServo = hwMap.servo.get("shooting_servo");
        // capBallMotor = hwMap.dcMotor.get("capBall_motor");
        // capBallServo = hwMap.servo.get("capBall_servo");
        //color_sensor_red = (ModernRoboticsI2cColorSensor) hwMap.colorSensor.get("color_sensor_red");
        //color_sensor_blue = (ModernRoboticsI2cColorSensor) hwMap.colorSensor.get("color_sensor_blue");
        gyro_sensor = (ModernRoboticsI2cGyro) hwMap.gyroSensor.get("gyro");
        //beaconDistance =  hwMap.opticalDistanceSensor.get("ods_beacon");
        //odsSensor = hwMap.opticalDistanceSensor.get("ods");

////
        leftMotor.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
        rightMotor.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors
        collectMotor.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
        //capBallMotor.setDirection(DcMotor.Direction.FORWARD);
        shootingMotor.setDirection(DcMotor.Direction.FORWARD);

        // Set all motors to zero power
        leftMotor.setPower(0);
        rightMotor.setPower(0);
        collectMotor.setPower(0);
        shootingMotor.setPower(0);
        shootingServo.setPosition(0);
        //capBallMotor .setPower(0);
        //capBallServo.setPosition(0);

        //color_sensor_red.enableLed(false);
        //color_sensor_blue.enableLed(false);
// Set all motors to run without encoders.
//        // May want to use RUN_USING_ENCODERS if encoders are installed.
        leftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        rightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        collectMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
    }

    public static HardWare11226 GetInstance() {
        if (m_instance == null) {
            m_instance = new HardWare11226();
        }
        return m_instance;
    }
}