teleop

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;


@TeleOp(name = "Teleop")
public class Main_Teleop extends LinearOpMode {
    private HardWare11226 m_hardware = new HardWare11226();

    private double left_Power, right_Power;
    @Override
    public void runOpMode() throws InterruptedException {


        m_hardware.init(hardwareMap);
        m_hardware.shootingServo.setPosition(0);

        waitForStart();

        while (opModeIsActive())
        {
            left_Power = gamepad1.left_stick_y;
            right_Power = gamepad1.right_stick_y;
            if (!gamepad1.left_bumper && !gamepad1.right_bumper)
            {
                driving();
            }
            else
            {
                straightdriving();
            }
            collect();
            movingball();
            shooting();


        }

    }

    private void driving()
    {
        m_hardware.leftMotor.setPower(left_Power);
        m_hardware.rightMotor.setPower(right_Power);
    }

    private void collect()
    {
        if (gamepad2.right_trigger > 0.1) {
            m_hardware.collectMotor.setPower(gamepad2.right_trigger);
        }
        else if (gamepad2.left_trigger > 0.1) {
            m_hardware.collectMotor.setPower(-gamepad2.left_trigger);
        }
        else{
            m_hardware.collectMotor.setPower(0);
        }

    }

    public void beginf() {

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

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


    }



    private void straightdriving()
    {
        if (gamepad1.right_bumper)
        {
            m_hardware.leftMotor.setPower(0.5);
            m_hardware.rightMotor.setPower(0.5);
        }
        else if (gamepad1.left_bumper)
        {
            m_hardware.leftMotor.setPower(-0.5);
            m_hardware.rightMotor.setPower(-0.5);
        }

    }

    private void movingball()
    {
            if (gamepad2.y)
            {

                m_hardware.shootingServo.setPosition(0);
            }
            else
            {
                m_hardware.shootingServo.setPosition(1);
            }
    }
    private  void shooting()
    {
        if (gamepad2.left_stick_y < -0.25)
        {
            m_hardware.shootingMotor.setPower(1);
        }
        else {
            m_hardware.shootingMotor.setPower(0);
        }

    }
}