public void awdstrafe (char direction, double power, int inches) {
        int totalDistance = robot.inchesToTicks(inches);

        RobotCore.frontLeftBeforeTravel = robot.frontLeftDrive.getCurrentPosition();
        RobotCore.frontRightBeforeTravel = robot.frontRightDrive.getCurrentPosition();
        RobotCore.backLeftBeforeTravel = robot.backLeftDrive.getCurrentPosition();
        RobotCore.backRightBeforeTravel = robot.backRightDrive.getCurrentPosition();

        switch (direction)
        {
            case 'r':
            case 'R':
                RobotCore.frontLeftTargetPosition = RobotCore.frontLeftBeforeTravel + totalDistance;
                RobotCore.frontRightTargetPosition = RobotCore.frontRightBeforeTravel - totalDistance;
                RobotCore.backLeftTargetPosition = RobotCore.backLeftBeforeTravel - totalDistance;
                RobotCore.backRightTargetPosition = RobotCore.backRightBeforeTravel + totalDistance;
                break;

            case 'l':
            case 'L':
                RobotCore.frontLeftTargetPosition = RobotCore.frontLeftBeforeTravel - totalDistance;
                RobotCore.frontRightTargetPosition = RobotCore.frontRightBeforeTravel + totalDistance;
                RobotCore.backLeftTargetPosition = RobotCore.backLeftBeforeTravel + totalDistance;
                RobotCore.backRightTargetPosition = RobotCore.backRightBeforeTravel - totalDistance;
                break;
        }

        robot.setDrivePosition();
        robot.runToDrivePosition();

        while (  (robot.frontLeftDrive.isBusy() || robot.frontRightDrive.isBusy() || robot.backLeftDrive.isBusy() || robot.backRightDrive.isBusy() ) && opModeIsActive() )
        {

            robot.drive(power);
            // Doing nothing really
        }

        robot.drive(0);
        robot.runWithoutDriveEncoders();
    }


    public void arm (char direction, double power, double revolutions) {

        int totalDistance = (int) (revolutions * RobotCore.ARM_REV_TICKS);

        RobotCore.armBeforeTravel = RobotCore.armDrive.getCurrentPosition();
        switch (direction)
        {
            case 'F':
                RobotCore.armTargetPosition = RobotCore.armBeforeTravel + totalDistance;
                break;
            case 'R':
                RobotCore.armTargetPosition = RobotCore.armBeforeTravel - totalDistance;
                break;
        }

        robot.armDrive.setTargetPosition(RobotCore.armTargetPosition);
        robot.armDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);

        while (robot.armDrive.isBusy() && opModeIsActive() )
        {
            robot.armDrive.setPower(power);
        }

        robot.armDrive.setPower(0);
        robot.armDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

    }

    private static final String TFOD_MODEL_ASSET = "Skystone.tflite";
    private static final String LABEL_FIRST_ELEMENT = "Stone";
    private static final String LABEL_SECOND_ELEMENT = "Skystone";
    public static boolean skyStoneFound = false;
    public static char skyStonePosition = 'a';
    private static final String VUFORIA_KEY =
            "ATQ4vcD/////AAABmZ3iCVf0xE8/phuApYxF4HWNU6Aw4hYEvtvY+Dp2euVucTl6uFylVRjTTnRw2rVs3Ab5qmQSE+kctil2a1LM3+Y+vjsH9Hw4SAsYRiR8BcsFTGlpk1RzErueBhJA16Mil842aIFWHyhBWs9cR5nHvtbreTE+sRIpLy7SqnNeev5eNfA6NjRClC0UZ4/4ZL7CWjVy9paFUWXViw7yDvzlC1eXThfuwW2xjGX5Y7pwobmWe96hxsDsDhv+hL3WuSMaA3DPVu1G4vYiO1NoF6hJLVJ20GZwBm7DM8ehz1yIkg5rRSGRmhFavWO8DthV14LWnzp+fUXYt8BxuwrLS56Y5teWwGpIBssYUTzkngonug2m";
    public VuforiaLocalizer vuforia;
    public TFObjectDetector tfod;

    public void initVuforia() {
        /*
         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
         */
        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();

        parameters.vuforiaLicenseKey = VUFORIA_KEY;
        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;

        //  Instantiate the Vuforia engine
        vuforia = ClassFactory.getInstance().createVuforia(parameters);

        // Loading trackables is not necessary for the TensorFlow Object Detection engine.
    }
    public void initTfod() {
        int tfodMonitorViewId = hardwareMap.appContext.getResources().getIdentifier(
                "tfodMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        TFObjectDetector.Parameters tfodParameters = new TFObjectDetector.Parameters(tfodMonitorViewId);
        tfodParameters.minimumConfidence = 0.6;
        tfod = ClassFactory.getInstance().createTFObjectDetector(tfodParameters, vuforia);
        tfod.loadModelFromAsset(TFOD_MODEL_ASSET, LABEL_FIRST_ELEMENT, LABEL_SECOND_ELEMENT);
    }