Merge remote-tracking branch 'origin/Train' into Train

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanLearnsTeleOP.java

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java

@@ -68,7 +68,7 @@
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.
-    private ElapsedTime runtime = new ElapsedTime();
+    private final ElapsedTime runtime = new ElapsedTime();
     private DcMotor leftFrontDrive = null;
     private DcMotor leftBackDrive = null;
     private DcMotor rightFrontDrive = null;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java

@@ -55,7 +55,7 @@
 public class BasicOpMode_Iterative extends OpMode
 {
     // Declare OpMode members.
-    private ElapsedTime runtime = new ElapsedTime();
+    private final ElapsedTime runtime = new ElapsedTime();
     private DcMotor leftDrive = null;
     private DcMotor rightDrive = null;
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java

@@ -55,7 +55,7 @@
 public class BasicOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members.
-    private ElapsedTime runtime = new ElapsedTime();
+    private final ElapsedTime runtime = new ElapsedTime();
     private DcMotor leftDrive = null;
     private DcMotor rightDrive = null;
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java

@@ -198,7 +198,7 @@ private boolean    setManualExposure(int exposureMS, int gain) {
                 exposureControl.setMode(ExposureControl.Mode.Manual);
                 sleep(50);
             }
-            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            exposureControl.setExposure(exposureMS, TimeUnit.MILLISECONDS);
             sleep(20);
 
             // Set Gain.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java

@@ -103,9 +103,9 @@ public void runOpMode() {
             // Each time around the loop, the servos will move by a small amount.
             // Limit the total offset to half of the full travel range
             if (gamepad1.right_bumper)
-                handOffset += robot.HAND_SPEED;
+                handOffset += RobotHardware.HAND_SPEED;
             else if (gamepad1.left_bumper)
-                handOffset -= robot.HAND_SPEED;
+                handOffset -= RobotHardware.HAND_SPEED;
             handOffset = Range.clip(handOffset, -0.5, 0.5);
 
             // Move both servos to new position.  Use RobotHardware class
@@ -114,9 +114,9 @@ else if (gamepad1.left_bumper)
             // Use gamepad buttons to move arm up (Y) and down (A)
             // Use the MOTOR constants defined in RobotHardware class.
             if (gamepad1.y)
-                arm = robot.ARM_UP_POWER;
+                arm = RobotHardware.ARM_UP_POWER;
             else if (gamepad1.a)
-                arm = robot.ARM_DOWN_POWER;
+                arm = RobotHardware.ARM_DOWN_POWER;
             else
                 arm = 0;
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java

@@ -41,7 +41,7 @@
 @Disabled
 public class ConceptNullOp extends OpMode {
 
-  private ElapsedTime runtime = new ElapsedTime();
+  private final ElapsedTime runtime = new ElapsedTime();
 
   /**
    * This method will be called once, when the INIT button is pressed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java

@@ -53,7 +53,7 @@
 public class ConceptRevSPARKMini extends LinearOpMode {
 
     // Declare OpMode members.
-    private ElapsedTime runtime = new ElapsedTime();
+    private final ElapsedTime runtime = new ElapsedTime();
     private DcMotorSimple leftDrive = null;
     private DcMotorSimple rightDrive = null;
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsOnBotJava.java

@@ -65,9 +65,9 @@
 public class ConceptSoundsOnBotJava extends LinearOpMode {
 
     // Point to sound files on the phone's drive
-    private String soundPath = "/FIRST/blocks/sounds";
-    private File goldFile   = new File("/sdcard" + soundPath + "/gold.wav");
-    private File silverFile = new File("/sdcard" + soundPath + "/silver.wav");
+    private final String soundPath = "/FIRST/blocks/sounds";
+    private final File goldFile   = new File("/sdcard" + soundPath + "/gold.wav");
+    private final File silverFile = new File("/sdcard" + soundPath + "/silver.wav");
 
     // Declare OpMode members.
     private boolean isX = false;    // Gamepad button state variables

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsSKYSTONE.java

@@ -52,7 +52,7 @@
 public class ConceptSoundsSKYSTONE extends LinearOpMode {
 
     // List of available sound resources
-    String  sounds[] =  {"ss_alarm", "ss_bb8_down", "ss_bb8_up", "ss_darth_vader", "ss_fly_by",
+    String[] sounds =  {"ss_alarm", "ss_bb8_down", "ss_bb8_up", "ss_darth_vader", "ss_fly_by",
             "ss_mf_fail", "ss_laser", "ss_laser_burst", "ss_light_saber", "ss_light_saber_long", "ss_light_saber_short",
             "ss_light_speed", "ss_mine", "ss_power_up", "ss_r2d2_up", "ss_roger_roger", "ss_siren", "ss_wookie" };
     boolean soundPlaying = false;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java

@@ -69,7 +69,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
     private DcMotor         leftDrive   = null;
     private DcMotor         rightDrive  = null;
 
-    private ElapsedTime     runtime = new ElapsedTime();
+    private final ElapsedTime     runtime = new ElapsedTime();
 
     // Calculate the COUNTS_PER_INCH for your specific drive train.
     // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java

@@ -62,7 +62,7 @@ public class RobotAutoDriveByTime_Linear extends LinearOpMode {
     private DcMotor         leftDrive   = null;
     private DcMotor         rightDrive  = null;
 
-    private ElapsedTime     runtime = new ElapsedTime();
+    private final ElapsedTime     runtime = new ElapsedTime();
 
 
     static final double     FORWARD_SPEED = 0.6;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java

@@ -311,7 +311,7 @@ private void    setManualExposure(int exposureMS, int gain) {
                 exposureControl.setMode(ExposureControl.Mode.Manual);
                 sleep(50);
             }
-            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            exposureControl.setExposure(exposureMS, TimeUnit.MILLISECONDS);
             sleep(20);
             GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
             gainControl.setGain(gain);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java

@@ -286,7 +286,7 @@ private void    setManualExposure(int exposureMS, int gain) {
                 exposureControl.setMode(ExposureControl.Mode.Manual);
                 sleep(50);
             }
-            exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
+            exposureControl.setExposure(exposureMS, TimeUnit.MILLISECONDS);
             sleep(20);
             GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
             gainControl.setGain(gain);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorKLNavxMicro.java

@@ -70,7 +70,7 @@ public class SensorKLNavxMicro extends LinearOpMode {
         // Get a reference to a Modern Robotics GyroSensor object. We use several interfaces
         // on this object to illustrate which interfaces support which functionality.
         navxMicro = hardwareMap.get(NavxMicroNavigationSensor.class, "navx");
-        gyro = (IntegratingGyroscope)navxMicro;
+        gyro = navxMicro;
         // If you're only interested int the IntegratingGyroscope interface, the following will suffice.
         // gyro = hardwareMap.get(IntegratingGyroscope.class, "navx");
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRColor.java

@@ -61,10 +61,10 @@ public class SensorMRColor extends LinearOpMode {
   public void runOpMode() {
 
     // hsvValues is an array that will hold the hue, saturation, and value information.
-    float hsvValues[] = {0F,0F,0F};
+    float[] hsvValues = {0F,0F,0F};
 
     // values is a reference to the hsvValues array.
-    final float values[] = hsvValues;
+    final float[] values = hsvValues;
 
     // get a reference to the RelativeLayout so we can change the background
     // color of the Robot Controller app to match the hue detected by the RGB sensor.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorMRGyro.java

@@ -75,7 +75,7 @@ public void runOpMode() {
     // Get a reference to a Modern Robotics gyro object. We use several interfaces
     // on this object to illustrate which interfaces support which functionality.
     modernRoboticsI2cGyro = hardwareMap.get(ModernRoboticsI2cGyro.class, "gyro");
-    gyro = (IntegratingGyroscope)modernRoboticsI2cGyro;
+    gyro = modernRoboticsI2cGyro;
     // If you're only interested int the IntegratingGyroscope interface, the following will suffice.
     // gyro = hardwareMap.get(IntegratingGyroscope.class, "gyro");
     // A similar approach will work for the Gyroscope interface, if that's all you need.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java

@@ -318,8 +318,8 @@ protected void onCreate(Bundle savedInstanceState) {
       preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_incorrect_clocks), true);
     }
 
-    entireScreenLayout = (LinearLayout) findViewById(R.id.entire_screen);
-    buttonMenu = (ImageButton) findViewById(R.id.menu_buttons);
+    entireScreenLayout = findViewById(R.id.entire_screen);
+    buttonMenu = findViewById(R.id.menu_buttons);
     buttonMenu.setOnClickListener(new View.OnClickListener() {
       @Override
       public void onClick(View v) {
@@ -339,7 +339,7 @@ public boolean onMenuItemClick(MenuItem item) {
 
     updateMonitorLayout(getResources().getConfiguration());
 
-    BlocksOpMode.setActivityAndWebView(this, (WebView) findViewById(R.id.webViewBlocksRuntime));
+    BlocksOpMode.setActivityAndWebView(this, findViewById(R.id.webViewBlocksRuntime));
 
     ExternalLibraries.getInstance().onCreate();
     onBotJavaHelper = new OnBotJavaHelperImpl();
@@ -365,13 +365,13 @@ public boolean onMenuItemClick(MenuItem item) {
       cfgFileMgr.setActiveConfig(false, configFile);
     }
 
-    textDeviceName = (TextView) findViewById(R.id.textDeviceName);
-    textNetworkConnectionStatus = (TextView) findViewById(R.id.textNetworkConnectionStatus);
-    textRobotStatus = (TextView) findViewById(R.id.textRobotStatus);
-    textOpMode = (TextView) findViewById(R.id.textOpMode);
-    textErrorMessage = (TextView) findViewById(R.id.textErrorMessage);
-    textGamepad[0] = (TextView) findViewById(R.id.textGamepad1);
-    textGamepad[1] = (TextView) findViewById(R.id.textGamepad2);
+    textDeviceName = findViewById(R.id.textDeviceName);
+    textNetworkConnectionStatus = findViewById(R.id.textNetworkConnectionStatus);
+    textRobotStatus = findViewById(R.id.textRobotStatus);
+    textOpMode = findViewById(R.id.textOpMode);
+    textErrorMessage = findViewById(R.id.textErrorMessage);
+    textGamepad[0] = findViewById(R.id.textGamepad1);
+    textGamepad[1] = findViewById(R.id.textGamepad2);
     immersion = new ImmersiveMode(getWindow().getDecorView());
     dimmer = new Dimmer(this);
     dimmer.longBright();
@@ -501,7 +501,7 @@ protected void unbindFromService() {
   protected void readNetworkType() {
     // Control hubs are always running the access point model.  Everything else, for the time
     // being always runs the Wi-Fi Direct model.
-    if (Device.isRevControlHub() == true) {
+    if (Device.isRevControlHub()) {
       networkType = NetworkType.RCWIRELESSAP;
     } else {
       networkType = NetworkType.fromString(preferencesHelper.readString(context.getString(R.string.pref_pairing_kind), NetworkType.globalDefaultAsString()));
@@ -541,11 +541,7 @@ private boolean isRobotRunning() {
 
     RobotState robotState = robot.eventLoopManager.state;
 
-    if (robotState != RobotState.RUNNING) {
-      return false;
-    } else {
-      return true;
-    }
+      return robotState == RobotState.RUNNING;
   }
 
   @Override
@@ -629,7 +625,7 @@ public void onConfigurationChanged(Configuration newConfig) {
    * based on the given configuration. Makes the children split the space.
    */
   private void updateMonitorLayout(Configuration configuration) {
-    LinearLayout monitorContainer = (LinearLayout) findViewById(R.id.monitorContainer);
+    LinearLayout monitorContainer = findViewById(R.id.monitorContainer);
     if (configuration.orientation == Configuration.ORIENTATION_LANDSCAPE) {
       // When the phone is landscape, lay out the monitor views horizontally.
       monitorContainer.setOrientation(LinearLayout.HORIZONTAL);
@@ -803,11 +799,7 @@ protected class SharedPreferencesListener implements SharedPreferences.OnSharedP
       if (key.equals(context.getString(R.string.pref_app_theme))) {
         ThemedActivity.restartForAppThemeChange(getTag(), getString(R.string.appThemeChangeRestartNotifyRC));
       } else if (key.equals(context.getString(R.string.pref_wifi_automute))) {
-        if (preferencesHelper.readBoolean(context.getString(R.string.pref_wifi_automute), false)) {
-          initWifiMute(true);
-        } else {
-          initWifiMute(false);
-        }
+          initWifiMute(preferencesHelper.readBoolean(context.getString(R.string.pref_wifi_automute), false));
       }
     }
   }

MeepMeepTesting/src/main/java/com/example/meepmeeptesting/PurplePixelComponent.java

@@ -7,7 +7,7 @@
 
 
 public class PurplePixelComponent extends Component {
-    private TensorFlowDetection.PropPosition propPosition;
+    private final TensorFlowDetection.PropPosition propPosition;
     public PurplePixelComponent(Robot robot, TensorFlowDetection.PropPosition propPosition) {
         super(robot);
         this.propPosition = propPosition;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/TrackingWheelLocalizer.java

@@ -38,7 +38,8 @@ public class TrackingWheelLocalizer extends ThreeTrackingWheelLocalizer {
     public Encoder leftEncoder, rightEncoder, frontEncoder;
     public final double X_MULTIPLIER;// = 1.009485424; // Multiplier in the X direction
     public final double Y_MULTIPLIER;// = 1.017838563; // Multiplier in the Y direction
-    private List<Integer> lastEncPositions, lastEncVels;
+    private final List<Integer> lastEncPositions;
+    private final List<Integer> lastEncVels;
 
     public TrackingWheelLocalizer(HardwareMap hardwareMap, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels,
                                   String leftEncoderName,

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/TrajectoryDrive.java

@@ -62,20 +62,20 @@ public class TrajectoryDrive extends MecanumDrive {
     public static double VY_WEIGHT = 1;
     public static double OMEGA_WEIGHT = 1;
 
-    private TrajectorySequenceRunner trajectorySequenceRunner;
+    private final TrajectorySequenceRunner trajectorySequenceRunner;
 
 
 
-    private TrajectoryFollower follower;
+    private final TrajectoryFollower follower;
 
     public DcMotorEx leftFront, leftRear, rightRear, rightFront;
-    private List<DcMotorEx> motors;
+    private final List<DcMotorEx> motors;
 
     private IMU imu;
-    private VoltageSensor batteryVoltageSensor;
+    private final VoltageSensor batteryVoltageSensor;
 
-    private List<Integer> lastEncPositions = new ArrayList<>();
-    private List<Integer> lastEncVels = new ArrayList<>();
+    private final List<Integer> lastEncPositions = new ArrayList<>();
+    private final List<Integer> lastEncVels = new ArrayList<>();
 
     private final TrajectoryAccelerationConstraint accelerationConstraint;
     private final TrajectoryVelocityConstraint velocityConstraint;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/ManualFeedforwardTuner.java

@@ -50,7 +50,7 @@
 public class ManualFeedforwardTuner extends LinearOpMode {
     public static double DISTANCE = 72; // in
 
-    private FtcDashboard dashboard = FtcDashboard.getInstance();
+    private final FtcDashboard dashboard = FtcDashboard.getInstance();
 
     //private PantheraDrive drive;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/MaxAngularVeloTuner.java

@@ -21,7 +21,7 @@ public class MaxAngularVeloTuner extends LinearOpMode {
     public static double RUNTIME = 4.0;
 
     private ElapsedTime timer;
-    private double maxAngVelocity = 0.0;
+    private final double maxAngVelocity = 0.0;
 
     @Override
     public void runOpMode() throws InterruptedException {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tuning/MaxVelocityTuner.java

@@ -22,7 +22,7 @@ public class MaxVelocityTuner extends LinearOpMode {
     public static double RUNTIME = 2.0;
 
     private ElapsedTime timer;
-    private double maxVelocity = 0.0;
+    private final double maxVelocity = 0.0;
 
     private VoltageSensor batteryVoltageSensor;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LearningTeleOp.java

@@ -13,6 +13,9 @@
 public class LearningTeleOp extends LinearOpMode {
 
 
+
+
+
     private DcMotor leftFrontMotor;
     private DcMotor rightFrontMotor;
     private DcMotor leftBackMotor;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/LukeSpecifically.java

@@ -0,0 +1,60 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+@Config
+@TeleOp
+public class LukeSpecifically extends LinearOpMode {
+
+
+    private DcMotor front_left;
+    private DcMotor front_right;
+    private DcMotor back_left;
+    private DcMotor back_right;
+    private CRServo servo_dog;
+    private CRServo grabber_dog;
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        waitForStart();
+
+        front_left = hardwareMap.get(DcMotor.class, "left_front_left_dw");
+        front_right = hardwareMap.get(DcMotor.class, "right_front");
+        back_left = hardwareMap.get(DcMotor.class, "left_back");
+        back_right = hardwareMap.get(DcMotor.class, "right_back_right_dw");
+        servo_dog = hardwareMap.get(CRServo.class, "servo");
+        grabber_dog = hardwareMap.get(CRServo.class, "Grabber");
+        while (opModeIsActive()) {
+
+            double y = -gamepad1.left_stick_y; // Remember, Y stick is reversed!
+            double x = gamepad1.left_stick_x;
+            double rx = gamepad1.right_stick_x;
+
+            front_left.setPower(-(y + x + rx));
+            back_left.setPower(-(y - x + rx));
+            front_right.setPower(y - x - rx);
+            back_right.setPower(y + x - rx);
+
+            if (gamepad1.right_bumper) {
+                servo_dog.setPower(1);
+            }//use if else and else statements before i kill you
+            if (gamepad1.left_bumper) {
+                servo_dog.setPower(0);
+            }
+            if (gamepad1.dpad_left) {
+                grabber_dog.setPower(-1);
+            }//make it stop
+            if (gamepad1.dpad_right) {
+                grabber_dog.setPower(1);
+            }
+        }
+
+
+    }
+
+}