broken.java

/* 
 *  turn(625) gives you a turn to the leftby 90 degrees. 
 *     this method can be given negative numbers in order to turn right.
 *
 *   drive()
 *
 *
 */

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;

@Autonomous(name = "GEM ONLY auto", group = "competition")

public class Auto extends LinearOpMode {

 // Declare OpMode members.
 private DcMotor leftWheel = null;
 private DcMotor rightWheel = null;
 private DcMotor centerWheel = null;

 public void drive(int delta) {
  int curLeft = leftWheel.getCurrentPosition();
  int curRight = rightWheel.getCurrentPosition();
  if (delta > 0) {
   leftWheel.setTargetPosition(curLeft + delta);
   rightWheel.setTargetPosition(curRight + delta);
  } else if (delta < 0) {
   leftWheel.setTargetPosition(curLeft - delta);
   rightWheel.setTargetPosition(curRight - delta);
  }
  while (leftWheel.isBusy() || rightWheel.isBusy())
  {
   sleep(10);
  }
 }
 @Override
 public void runOpMode() {
        leftWheel = hardwareMap.get(DcMotor.class, "leftwheel");
        rightWheel = hardwareMap.get(DcMotor.class, "rightwheel");
        centerWheel = hardwareMap.get(DcMotor.class, "centerwheel");
       
        leftWheel.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        rightWheel.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        
        rightWheel.setDirection(DcMotor.Direction.REVERSE);
        centerWheel.setDirection(DcMotor.Direction.REVERSE);
        
        leftWheel.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        rightWheel.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        centerWheel.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
       
  // Wait for the game to start
  waitForStart();
  drive(200);
  print("helo?");
  
 }
}