14 move drivetrain into subsystem

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

@@ -0,0 +1,15 @@
+package org.firstinspires.ftc.teamcode;
+
+public final class Constants {
+    public static class Drivetrain {
+        public static final String flMotorName = "frontLeftDrive";
+        public static final String frMotorName = "frontRightDrive";
+        public static final String blMotorName = "backLeftDrive";
+        public static final String brMotorName = "backRightDrive";
+    }
+
+    public static class Shooter {
+        public static final String shooterMotorName = "shooterMotor";
+        public static final double defaultSpeed = 1;
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java

@@ -0,0 +1,42 @@
+package org.firstinspires.ftc.teamcode.OpModes;
+
+import com.arcrobotics.ftclib.command.CommandOpMode;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.Constants;
+import org.firstinspires.ftc.teamcode.commands.RunShooter;
+import org.firstinspires.ftc.teamcode.commands.UserDrive;
+import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+
+@TeleOp(name = "BackupOpMode", group = "NormalOpModes")
+public class BackupOpMode extends CommandOpMode {
+    private Shooter shooter;
+    private Drivetrain drivetrain;
+
+    private GamepadEx driverOp;
+    private GamepadEx coOp;
+
+    @Override
+    public void initialize() {
+        driverOp = new GamepadEx(gamepad1);
+        coOp = new GamepadEx(gamepad2);
+
+        drivetrain = new Drivetrain(
+                hardwareMap,
+                Constants.Drivetrain.flMotorName,
+                Constants.Drivetrain.frMotorName,
+                Constants.Drivetrain.blMotorName,
+                Constants.Drivetrain.brMotorName
+        );
+        drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
+        register(drivetrain);
+
+        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName);
+        register(shooter);
+        coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
+                new RunShooter(shooter, Constants.Shooter.defaultSpeed));
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java

@@ -0,0 +1,41 @@
+package org.firstinspires.ftc.teamcode.OpModes;
+
+import com.arcrobotics.ftclib.command.CommandOpMode;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.Constants;
+import org.firstinspires.ftc.teamcode.commands.RunShooter;
+import org.firstinspires.ftc.teamcode.commands.UserDrive;
+import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+
+@TeleOp(name = "PrimaryOpMode", group = "NormalOpModes")
+public class PrimaryOpMode extends CommandOpMode {
+    private Shooter shooter;
+    private Drivetrain drivetrain;
+
+    private GamepadEx driverOp;
+    private GamepadEx coOp;
+
+    @Override
+    public void initialize() {
+        driverOp = new GamepadEx(gamepad1);
+        coOp = new GamepadEx(gamepad2);
+
+        drivetrain = new Drivetrain(
+                hardwareMap,
+                Constants.Drivetrain.flMotorName,
+                Constants.Drivetrain.frMotorName,
+                Constants.Drivetrain.blMotorName,
+                Constants.Drivetrain.brMotorName
+        );
+        drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
+        register(drivetrain);
+        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName);
+        register(shooter);
+        coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
+                new RunShooter(shooter, Constants.Shooter.defaultSpeed));
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BrodysFIRSTOpMode.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/BrodysFIRSTOpMode.java

@@ -1,11 +1,13 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.OpModes.learning;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
-@TeleOp(name = "Brodys OpMode", group = "Example OpMode")
+@TeleOp(name = "Brody's OpMode", group = "Example OpMode")
+@Disabled
 public class BrodysFIRSTOpMode extends OpMode {
     private DcMotor frontLeftMotor;
     private DcMotor frontRightMotor;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/NicksFIRSTJavaOpMode.java → TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/NicksFIRSTJavaOpMode.java

@@ -1,11 +1,13 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.OpModes.learning;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
-@TeleOp(name="Nick's OpMode", group="Example OpMode")
+@TeleOp(name = "Nick's OpMode", group = "Example OpMode")
+@Disabled
 public class NicksFIRSTJavaOpMode extends OpMode {
     private DcMotor frontLeftMotor;
     private DcMotor frontRightMotor;
@@ -48,7 +50,7 @@ public void loop() {
     }
 
     @Override
-    public  void stop() {
+    public void stop() {
         telemetry.addData("Status", "Stopped");
         telemetry.update();
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunShooter.java

@@ -5,25 +5,20 @@
 import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 
 public class RunShooter extends CommandBase {
-    private Shooter subsystem;
-    private double speed;
+    private final Shooter subsystem;
+    private final double speed;
 
     public RunShooter(Shooter _subsystem, double _speed) {
-       subsystem = _subsystem;
-       addRequirements(subsystem);
-       speed = _speed;
+        subsystem = _subsystem;
+        addRequirements(subsystem);
+        speed = _speed;
     }
 
     @Override
     public void initialize() {
         subsystem.run(speed);
     }
 
-    @Override
-    public boolean isFinished() {
-        return false;
-    }
-
     @Override
     public void end(boolean interrupted) {
         subsystem.stop();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/UserDrive.java

@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.teamcode.commands;
+
+import com.arcrobotics.ftclib.command.CommandBase;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+
+import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+
+public class UserDrive extends CommandBase {
+    private final Drivetrain drivetrain;
+    private final GamepadEx gamepad;
+
+    public UserDrive(Drivetrain drivetrain, GamepadEx gamepad) {
+        this.drivetrain = drivetrain;
+        this.gamepad = gamepad;
+        addRequirements(drivetrain);
+    }
+
+    @Override
+    public void execute() {
+        drivetrain.move(
+                gamepad.getLeftX(),
+                gamepad.getLeftY(),
+                gamepad.getRightX()
+        );
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        drivetrain.stop();
+    }
+}