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teamcode/BlueBoardSide.java

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+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.operations.inputs.AprilTag.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.DriverStation.output;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.HardcoreMovements.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.configureMotors.*;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Blue, Board Side")
+public class BlueBoardSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        // LinearOpMode that calls a different form of OpMode:
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();} // stop OpMode if the button is pressed
+        while (opModeIsActive()) {runLoop();}
+        visionPortal.close(); // close view for camera
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        // ^ set motor directions
+        initAprilTag("Camera 1");
+    }
+
+    @Override
+    public void runInitLoop(){}
+
+    @Override
+    public void runStart() {}
+    @Override
+    public void runStop() {
+        stopAll();
+    }
+    @Override
+    public void runLoop() {
+
+        setAprilTagVariables();
+        // ^ this line puts the april tag number into a variable, along with other april tag infromation
+        if (gamepad1.a) {
+            drive(0.5,0.5, 0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.x) {
+            drive(0.5,-0.5, 0.25,-0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+
+        if (gamepad1.b) {
+            drive(-0.5,0.5, -0.25,0.25);
+        }
+        else {
+            driveZeroPower();
+        }
+        output(tagId);
+        if (tagId == 1){
+            output("The First Tag!");
+            runStop();
+        }
+        else if (tagId == 2){
+            output("The Second Tag!");
+            runStop();
+        }
+        else if (tagId == 3){
+            output("The Third Tag!");
+            runStop();
+        }
+
+    }
+}
+

teamcode/BlueFarSide.java

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Blue, Far Side")
+public class BlueFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}

teamcode/Main.java

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+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.operations.inputs.Imu.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.drive.configureMotors.*;
+import static org.firstinspires.ftc.teamcode.operations.outputs.motors.pixelMotor.ConfigureMotorPixel.pixelMotor;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+import org.firstinspires.ftc.teamcode.operations.outputs.motors.barMotor.BarMotorMovements;
+
+@TeleOp
+public class Main extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+        mapMotors("fr","fl","br","bl");
+        forwardMotors(false,true,false,true);
+        //ConfigureMotorBar.mapMotor("bar");
+        //ConfigureMotorPixel.mapMotor("pixel");
+        imuGet("imu", "LEFT", "UP");
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+        double y = -gamepad1.left_stick_y; // Remember, Y stick value is reversed
+        double x = gamepad1.left_stick_x;
+        double rx = gamepad1.right_stick_x;
+
+        // This button choice was made so that it is hard to hit on accident,
+        // it can be freely changed based on preference.
+        // The equivalent button is start on Xbox-style controllers.
+        if (gamepad1.options) {
+            imu.resetYaw();
+        }
+
+        double botHeading = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
+
+        // Rotate the movement direction counter to the bot's rotation
+        double rotX = x * Math.cos(-botHeading) - y * Math.sin(-botHeading);
+        double rotY = x * Math.sin(-botHeading) + y * Math.cos(-botHeading);
+
+        rotX = rotX * 1.1;  // Counteract imperfect strafing
+
+        // Denominator is the largest motor power (absolute value) or 1
+        // This ensures all the powers maintain the same ratio,
+        // but only if at least one is out of the range [-1, 1]
+        double denominator = Math.max(Math.abs(rotY) + Math.abs(rotX) + Math.abs(rx), 1);
+        double frontLeftPower = (rotY + rotX + rx) / denominator;
+        double backLeftPower = (rotY - rotX + rx) / denominator;
+        double frontRightPower = (rotY - rotX - rx) / denominator;
+        double backRightPower = (rotY + rotX - rx) / denominator;
+
+        if (gamepad2.a) {
+            pixelMotor.setPower(1); // set speed to pixel motor to pick up pixels
+        }
+        else if (gamepad2.y) { // run to position for bar motor
+            pixelMotor.setPower(0);
+            BarMotorMovements.rotate(50, 1);
+
+        }
+
+        fl.setPower(frontLeftPower);
+        bl.setPower(backLeftPower);
+        fr.setPower(frontRightPower);
+        br.setPower(backRightPower);
+
+
+        // speed is still there, more force given to joystick, more power.
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+}

teamcode/RedBoardSide.java

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Red, Board Side")
+public class RedBoardSide extends TargetOperations {
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}

teamcode/RedFarSide.java

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+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.firstinspires.ftc.teamcode.operations.TargetOperations;
+
+@Autonomous(name="Red, Far Side")
+public class RedFarSide extends TargetOperations {
+
+    @Override
+    public void runOpMode() {
+
+        runInit();
+        while(opModeInInit()){runInitLoop();}
+        waitForStart();
+        runStart();
+        if (isStopRequested()){runStop();}
+        while (opModeIsActive()) {runLoop();}
+    }
+
+    @Override
+    public void runInit() {
+
+    }
+
+    @Override
+    public void runInitLoop() {
+
+    }
+
+    @Override
+    public void runStart() {
+
+    }
+
+    @Override
+    public void runLoop() {
+
+    }
+
+    @Override
+    public void runStop() {
+
+    }
+
+}

teamcode/operations/TargetOperations.java

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+package org.firstinspires.ftc.teamcode.operations;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+public abstract class TargetOperations extends LinearOpMode implements TargetSetup {
+
+    public void stopAll() {
+        requestOpModeStop();
+    }
+
+}

teamcode/operations/TargetSetup.java

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+// public is not needed, because Interface has public by default
+package org.firstinspires.ftc.teamcode.operations;
+
+ interface TargetSetup {
+     /*
+     this interface was made so that
+     both LinearOpMode and OpMode can be
+     ran within the same class
+      */
+     void runInit();
+     void runInitLoop();
+     void runStart();
+     void runLoop();
+     void runStop();
+}