RoboCodo

package org.usfirst.ftc.exampleteam.yourcodehere;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.*;
import org.swerverobotics.library.*;
import org.swerverobotics.library.interfaces.*;

/**
 * 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;
    @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");


        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);
                    }
                    // lower slide bar
                    if (gamepad1.right_bumper){
                        slide1.setPower(50);
                    }
                    else if (gamepad1.right_trigger > 0) {
                        slide1.setPower(-50);
                    }
                    else {
                        slide1.setPower(0);
                    }

                    //higher slide bar
                    if (gamepad1.left_bumper){
                        slide2.setPower(50);
                    }
                    else if (gamepad1.left_trigger > 0){
                        slide2.setPower(-50);
                    }
                    else {
                        slide2.setPower(0);
                    }

                }

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