Arcade Mode 2 Motor With Telemetry

/*
Copyright (c) 2016 Robert Atkinson

All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted (subject to the limitations in the disclaimer below) provided that
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Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.

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list of conditions and the following disclaimer in the documentation and/or
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Neither the name of Robert Atkinson nor the names of his contributors may be used to
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;

/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Arcade Drive Teleop for a PushBot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="Arcade Drive 2 Motor", group="Linear Opmode")  // @Autonomous(...) is the other common choice
public class ArcadeDrive2MotorOneJoystick extends LinearOpMode
{
    /* Declare OpMode members. */
    private ElapsedTime runtime = new ElapsedTime();
    DcMotor leftMotor = null;
    DcMotor rightMotor = null;

    @Override
    public void runOpMode() throws InterruptedException
    {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        /* eg: Initialize the hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names assigned during the robot configuration
         * step (using the FTC Robot Controller app on the phone).
         */
        leftMotor  = hardwareMap.dcMotor.get("left motor");
        rightMotor = hardwareMap.dcMotor.get("right motor");

        // eg: Set the drive motor directions:
        // "Reverse" the motor that runs backwards when connected directly to the battery
        leftMotor.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
        rightMotor.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors

        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        runtime.reset();

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive())
        {
            telemetry.addData("Status", "Run Time: " + runtime.toString());

            float throttle = -gamepad1.left_stick_y;
            float direction = -gamepad1.left_stick_x;

            float leftPower = scaleInput(throttle + direction);
            float rightPower = scaleInput(throttle - direction);

            leftMotor.setPower(leftPower);
            rightMotor.setPower(rightPower);

            telemetry.addData("Left",leftPower);
            telemetry.addData("Right",rightPower);

            // Show joystick information as some other illustrative data
            telemetry.addLine("left joystick | ")
                    .addData("x", gamepad1.left_stick_x)
                    .addData("y", gamepad1.left_stick_y);
            telemetry.addLine("right joystick | ")
                    .addData("x", gamepad1.right_stick_x)
                    .addData("y", gamepad1.right_stick_y);

            telemetry.update();

            idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
        }
    }

    /** Scales the input so the commanded power will be within a certain range. Avoids stalls and robot moving too fast. */
    private float scaleInput(float input)
    {
        final float MIN_INPUT = 0.15f; //15% power
        final float MAX_INPUT = 0.75f; //75% power
        float retVal = 0.0f;

        if (Math.abs(input) >= MIN_INPUT)
        {
            retVal = input >= 0 ? Range.clip(input, MIN_INPUT, MAX_INPUT) : Range.clip(input, -MAX_INPUT, -MIN_INPUT) ;
        }
        return retVal;
    }
}