/* Copyright (c) 2017 FIRST. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted (subject to the limitations in the disclaimer below) provided that
 * the following conditions are met:
 *
 * Redistributions of source code must retain the above copyright notice, this list
 * of conditions and the following disclaimer.
 *
 * Redistributions in binary form must reproduce the above copyright notice, this
 * list of conditions and the following disclaimer in the documentation and/or
 * other materials provided with the distribution.
 *
 * Neither the name of FIRST nor the names of its contributors may be used to endorse or
 * promote products derived from this software without specific prior written permission.
 *
 * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
 * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

package org.firstinspires.ftc.teamcode;


import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.hardware.Servo;

public class Hardware {

    public DcMotor BackLeftMotor = null;
    public DcMotor FrontRightMotor = null;
    public DcMotor FrontLeftMotor = null;
    public DcMotor BackRightMotor = null;
    public DcMotor HookMotor1 = null;
    public DcMotor HookMotor2 = null;

    HardwareMap HardMap = null;


    public Hardware() {}

    public void init(HardwareMap PHP) {
        // Save reference to Hardware map
        HardMap = PHP;

        // Define and Initialize Motors
        BackLeftMotor = HardMap.get(DcMotor.class, "Left_Back");
        FrontRightMotor = HardMap.get(DcMotor.class, "Right_Front");
        FrontLeftMotor = HardMap.get(DcMotor.class, "Left_Front");
        BackRightMotor = HardMap.get(DcMotor.class, "Right_Back");
        HookMotor1 = HardMap.get(DcMotor.class, "Hook_Motor_1");
        HookMotor2 = HardMap.get(DcMotor.class, "Hook_Motor_2");


        BackLeftMotor.setDirection(DcMotor.Direction.FORWARD);
        FrontRightMotor.setDirection(DcMotor.Direction.REVERSE);
        FrontLeftMotor.setDirection(DcMotor.Direction.FORWARD);
        BackRightMotor.setDirection(DcMotor.Direction.REVERSE);
        HookMotor1.setDirection(DcMotor.Direction.FORWARD);
        HookMotor2.setDirection(DcMotor.Direction.FORWARD);

        BackLeftMotor.setPower(0);
        FrontRightMotor.setPower(0);
        FrontLeftMotor.setPower(0);
        BackRightMotor.setPower(0);
        HookMotor1.setPower(0);
        HookMotor2.setPower(0);

        BackLeftMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        FrontRightMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        FrontLeftMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        BackRightMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        HookMotor1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        HookMotor2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

    }

}