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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;

public class Encoder {
    DcMotor objUpDown; //DcMotorController obj for up and down
    DcMotor objLeftRight; //DcMotorController obj for left and right

    public Encoder(OpMode opMode){
        objUpDown = opMode.hardwareMap.dcMotor.get("encY");
        objLeftRight = opMode.hardwareMap.dcMotor.get("encX");
    }
    public int getTicks(DcMotor obj)
    {
        int currentTicks = obj.getCurrentPosition();
        return currentTicks;
    }

    public double getDistanceTraveled(){
        if(getTicks(objUpDown) > 0) {
            double traveled = (getTicks(objUpDown) / 500) * (4 * Math.PI);
            return traveled; //inches traveled by the robot
        }
        else {
            return 0;
        }
    }

    public double getDistanceTraveledLeftRight() {
        if (getTicks(objLeftRight) > 0) {
            double traveled = (getTicks(objLeftRight) / 500) * (4 * Math.PI);
            return traveled; //inches traveled by the robot
        }
        else{
            return 0;
        }
    }
}