HardwarePushbot (Hardware Initialize class)

package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

/**
 * This is NOT an opmode.
 *
 * This class can be used to define all the specific hardware for a single robot.
 * In this case that robot is a Pushbot.
 * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
 *
 * This hardware class assumes the following device names have been configured on the robot:
 * Note:  All names are lower case and some have single spaces between words.
 *
 * Motor channel:  Left  drive motor:        "left_drive"
 * Motor channel:  Right drive motor:        "right_drive"
 * Motor channel:  Manipulator drive motor:  "left_arm"
 * Servo channel:  Servo to open left claw:  "left_hand"
 * Servo channel:  Servo to open right claw: "right_hand"
 */
public class HardwarePushbot
{
    /* Public OpMode members. */
    public DcMotor  leftMotor   = null;
    public DcMotor  rightMotor  = null;
    public DcMotor  armMotor    = null;
    public DcMotor arm2Motor    = null;

    public DcMotor  leftShooter = null; //This is for the shooter motors
    public DcMotor  rightShooter = null; //This is for the shooter motors

    public DcMotor  liftLeft    = null; //This is for the left side that moves the yoga ball lift
    public DcMotor  liftRight   = null; //This is for the right side that moves the yoga ball lift

    public Servo    ballPusher     = null; //This is for the pusher thing that pushes the ball into the shooter
    public Servo    liftHolder    = null; //This is for the servo that pushes the button on the beacon

    public Servo    liftArmLeft    = null; //This is for the left arm connected to the servo to grab onto the yoga ball
    public Servo    liftArmRight   = null; //This is for the right arm connected to the servo to grab onto the yoga ball.

    public ColorSensor beaconSensor = null;

    public static final double MID_SERVO       =  1.0 ;
    public static final double ARM_UP_POWER    =  0.45 ;
    public static final double ARM_DOWN_POWER  = -0.45 ;

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

    /* Constructor */
    public HardwarePushbot(){

    }

    /* 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_drive");
        rightMotor  = hwMap.dcMotor.get("right_drive");

        armMotor    = hwMap.dcMotor.get("left_arm");
        //arm2Motor   = hwMap.dcMotor.get("right_arm");

        leftShooter = hwMap.dcMotor.get("left_drive2");
        rightShooter = hwMap.dcMotor.get("right_drive2");

        liftLeft = hwMap.dcMotor.get("lift_left");
        liftRight = hwMap.dcMotor.get("lift_right");

        // Define and Initialize Servos
        ballPusher  = hwMap.servo.get("left_hand");
        liftHolder = hwMap.servo.get("right_hand");



        //Define and Initialize Sensors
        beaconSensor = hwMap.colorSensor.get("colorSensor");


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

        // Set all motors to zero power
        leftMotor.setPower(0);
        rightMotor.setPower(0);
        armMotor.setPower(0);
        leftShooter.setPower(0);
        rightShooter.setPower(0);

        // 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);
        //armMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Define and initialize ALL installed servos.
        //leftClaw = hwMap.servo.get("left_hand");
        //rightClaw = hwMap.servo.get("right_hand");
        //leftClaw.setPosition(MID_SERVO);
        //rightClaw.setPosition(MID_SERVO);
    }

    /***
     *
     * waitForTick implements a periodic delay. However, this acts like a metronome with a regular
     * periodic tick.  This is used to compensate for varying processing times for each cycle.
     * The function looks at the elapsed cycle time, and sleeps for the remaining time interval.
     *
     * @param periodMs  Length of wait cycle in mSec.
     */
    public void waitForTick(long periodMs) {

        long  remaining = periodMs - (long)period.milliseconds();

        // sleep for the remaining portion of the regular cycle period.
        if (remaining > 0) {
            try {
                Thread.sleep(remaining);
            } catch (InterruptedException e) {
                Thread.currentThread().interrupt();
            }
        }

        // Reset the cycle clock for the next pass.
        period.reset();
    }
}