FTCcode2

package org.usfirst.ftc.exampleteam.yourcodehere;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;

import org.swerverobotics.library.SynchronousOpMode;

/**
 * A skeletal example of a do-nothing first OpMode. Go ahead and change this code
 * to suit your needs, or create sibling OpModes adjacent to this one in the same
 * Java package.
 */
@TeleOp(name = "My First OpMode")
public class MyFirstOpMode extends SynchronousOpMode {
    /* Declare here any fields you might find useful. */
    public DcMotor motorLeft = null;
    public DcMotor motorRight = null;
    public DcMotor slide1 = null;
    public DcMotor slide2 = null;

    public Servo pusher = null;
    public Servo P1 = null;
    public Servo P2 = null;

    @Override
    public void main() throws InterruptedException {
        /* Initialize our hardware variables. Note that the strings used here as parameters
         * to 'get' must correspond to the names you assigned during the robot configuration
         * step you did in the FTC Robot Controller app on the phone.
         */
        motorLeft = this.hardwareMap.dcMotor.get("motorLeft");
        motorRight = this.hardwareMap.dcMotor.get("motorRight");
        pusher = hardwareMap.servo.get("pusher");
        slide1 = hardwareMap.dcMotor.get("slide1");
        slide2 = hardwareMap.dcMotor.get("slide2");
        P1 = hardwareMap.servo.get("P1");
        P2 = hardwareMap.servo.get("P2");
        motorRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        motorLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        slide1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        slide2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        waitForStart();

        // Go go gadget robot!
        while (opModeIsActive()) {
            double powerRight = 0;
            double powerLeft = 0;
            if (updateGamepads()) {
                powerLeft = gamepad1.left_stick_y * 0.7;
                powerRight = gamepad1.right_stick_y * 0.7;
                this.motorLeft.setPower(powerLeft);
                this.motorRight.setPower(-powerRight);

                if (gamepad1.dpad_up) {
                    pusher.setPosition(100);
                }
                else if (gamepad1.dpad_down) {
                    pusher.setPosition(0.5);
                }
                // lower slide bar
                if (gamepad1.right_bumper) {
                    slide1.setPower(25);
                } else if (gamepad1.right_trigger > 0) {
                    slide1.setPower(-25);
                } else {
                    slide1.setPower(0);
                }

                //higher slide bar
                if (gamepad1.left_bumper) {
                    slide2.setPower(-25);
                } else if (gamepad1.left_trigger > 0) {
                    slide2.setPower(25);
                } else {
                    slide2.setPower(0);
                }

                //pincers
                if(gamepad1.a){
                    P1.setPosition(0);
                    P2.setPosition(1);
                }
                if(gamepad1.b){
                    P1.setPosition(1);
                    P2.setPosition(0);
                }

            }

            telemetry.update();
            idle();
        }
    }
}