sensor_auto new

package org.firstinspires.ftc.teamcode;


import com.qualcomm.hardware.adafruit.BNO055IMU;
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.GyroSensor;

import android.hardware.Sensor.*;
@TeleOp(name = "sensors_Auto")
public class sensors_Auto extends LinearOpMode
{
    private HardWare11226 m_hardware = new HardWare11226();
    private boolean m_ran_once = false;
    private final  double MOTOR_CPR = 1120;
    private final  double WHEEL_CIRCUMFERENCE = 315.993955469;
    private final double CPR_PER_CM = MOTOR_CPR * WHEEL_CIRCUMFERENCE;
    private GyroSensor gyro = null;
    BNO055IMU.GyroRange gyroRange;

    @Override
    public void runOpMode() throws InterruptedException
    {
        while (opModeIsActive() && !m_ran_once)
        {
            forward(0.5, 100);



            m_ran_once = true;
        }
    }

    private void forward(double p_speed, double p_distance)
    {
        drive_to_traget(p_speed, p_distance);
        sleep(250);

    }

    private void backward(double p_speed, double p_distance)
    {
        drive_to_traget(-p_speed, p_distance);
        sleep(250);
    }

    private void turn_left(double p_speed, double angles)
    {
        gyro.resetZAxisIntegrator();
        gyroRange

    }

    private void turn_right(double p_speed, double angles)
    {

    }

    private void drive_to_traget(double p_speed, double p_distance)
    {


        double m_newLtraget = m_hardware.leftMotor.getCurrentPosition() + +((int) p_distance / CPR_PER_CM );
        double m_newRtraget = m_hardware.rightMotor.getCurrentPosition() + +((int) p_distance / CPR_PER_CM );;

        m_hardware.leftMotor.setTargetPosition((int) m_newLtraget);
        m_hardware.rightMotor.setTargetPosition((int) m_newRtraget);

        m_hardware.leftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        m_hardware.rightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);

        m_hardware.leftMotor.setPower(p_speed);
        m_hardware.rightMotor.setPower(p_speed);

        while (m_hardware.leftMotor.isBusy() && m_hardware.rightMotor.isBusy())
        {
            idle();
        }

        m_hardware.leftMotor.setPower(0);
        m_hardware.rightMotor.setPower(0);

        m_hardware.leftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        m_hardware.rightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

    }
}