Golfish FIRST-Tech-Challenge#1

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Goldfish.java

@@ -0,0 +1,108 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion.opMode;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+
+public  class Goldfish {
+
+    public HardwareMap hwMap;
+
+    LinearOpMode auton;
+
+    public enum Drivetrain {
+        MECHANUM
+    }
+
+    public enum Team {
+        RED,
+        BLUE
+    }
+
+    public Drivetrain drive;
+
+    public Telemetry telem;
+
+    //defining global variables
+    public DcMotor armMotor, suspensionMotor, motorFL, motorFR, motorBL, motorBR;
+
+    public Servo clawServoLeft, clawServoRight;
+
+    public WebcamName webcamName;
+
+    //constants here
+
+    static final double TICKS_PER_INCH = 40;
+
+    //Encoder ticks for ticks per inch
+    //welovebilly
+
+    public Goldfish( OpMode opMode, Drivetrain drivetrain); {
+
+        this.hwMap = opMode.hardwareMap;
+
+        this.drive = Drivetrain;
+
+        this.telem = opMode.telemetry;
+
+        setupHardware();
+    }
+
+    public Goldfish( LinearOpMode opmode, Drivetrain type) {
+
+        this.auton = opmode;
+
+        hwMap = opmode.hardwareMap;
+
+        telem = opmode.telemetry;
+
+        drive = type;
+
+        setupHardware();
+    }
+
+    RevBlinkinLedDriver lights;
+
+    public Goldfish( HardwareMap hardwareMap, Drivetrain drivetrain) {
+
+        this.hwMap = hardwareMap;
+
+        this.drive = drivetrain;
+
+        setupHardware();
+
+    }
+
+
+    public void setupHardware() {
+
+        switch (drive) {
+
+            case MECHANUM:
+
+                motorFL = hwMap.dcMotor.get("motorFL");
+                motorFR = hwMap.dcMotor.get("motorFR");
+                motorBL = hwMap.dcMotor.get("motorBL");
+                motorBR = hwMap.dcMotor.get("motorBR");
+
+                motorFL.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        }
+
+    }
+
+
+}