Fixed up tele op and robot object

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/compiler.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CompilerConfiguration">
+    <bytecodeTargetLevel target="11" />
+  </component>
+</project>

.idea/jarRepositories.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RemoteRepositoriesConfiguration">
+    <remote-repository>
+      <option name="id" value="central" />
+      <option name="name" value="Maven Central repository" />
+      <option name="url" value="https://repo1.maven.org/maven2" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="jboss.community" />
+      <option name="name" value="JBoss Community repository" />
+      <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="MavenRepo" />
+      <option name="name" value="MavenRepo" />
+      <option name="url" value="https://repo.maven.apache.org/maven2/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="BintrayJCenter" />
+      <option name="name" value="BintrayJCenter" />
+      <option name="url" value="https://jcenter.bintray.com/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="Google" />
+      <option name="name" value="Google" />
+      <option name="url" value="https://dl.google.com/dl/android/maven2/" />
+    </remote-repository>
+  </component>
+</project>

.idea/misc.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

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

@@ -49,6 +49,8 @@ import android.preference.PreferenceManager;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.annotation.StringRes;
+import androidx.core.content.ContextCompat;
+
 import android.view.Menu;
 import android.view.MenuItem;
 import android.view.MotionEvent;
@@ -410,6 +412,12 @@ public class FtcRobotControllerActivity extends Activity
     checkPreferredChannel();
 
     AnnotatedHooksClassFilter.getInstance().callOnCreateMethods(this);
+
+    /* REV CONTROL HUB APPEARS TO PREVENT ANY APP NOT ON ITS WHITELIST FROM USING ON_BOOT_COMPLETED RECEIVERS */
+    /* USING THIS HACK DUE TO THAT...                                                                         */
+    Intent tacnetIntent = new Intent("org.timecrafters.TimeCraftersConfigurationTool.tacnet.ACTION_START_SERVER");
+    tacnetIntent.setPackage("org.timecrafters.TimeCraftersConfigurationTool");
+    ContextCompat.startForegroundService(context, tacnetIntent);
   }
 
   protected UpdateUI createUpdateUI() {

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueDuckEngine.java

@@ -0,0 +1,59 @@
+package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.CollectorToggle;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TensorFlowState;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmExtension;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretOrbit;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+@Autonomous (name = "Blue Duck Autonomous", group = "blue")
+public class BlueDuckEngine extends CyberarmEngine {
+    Robot robot;
+
+    @Override
+    public void setup() {
+        this.robot = new Robot(this);
+        robot.resetEncoders();
+
+        addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "BlueDuckAutonomous", "01_0"));
+        addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "BlueDuckAutonomous", "01_1"));
+//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "02_0"));
+//        addState(new TurretArmRiser(robot, robot.whiteArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
+//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "RedWarehouseAutonomous", "04_0"));
+        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueDuckAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueDuckAutonomous", "06_0"));
+        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueDuckAutonomous", "07_0"));
+        addState(new DriveState(robot,"BlueDuckAutonomous", "08_0"));
+        addState(new DriveState(robot, "BlueDuckAutonomous", "09_0"));
+        addState(new TurretOrbit(robot, robot.turretServoWhite, null, "BlueDuckAutonomous", "10_0"));
+        addState(new DriveState(robot, "BlueDuckAutonomous", "10_1"));
+
+    }
+
+    public void loop() {
+        super.loop();
+
+        telemetry.addData("white arm extension", robot.whiteArmBobbin.getCurrentPosition());
+        telemetry.addData("White Riser Arm", robot.whiteArmRiser.getCurrentPosition());
+        telemetry.addData("white Turret Switch", robot.whiteMag.isPressed());
+        telemetry.addData("white Turret orbit Power", robot.turretServoWhite.getPower());
+        telemetry.addData("White Door Position", robot.whiteDispenser.getPosition());
+        telemetry.addLine();
+
+        telemetry.addData("Orange Riser Arm", robot.orangeArmRiser.getCurrentPosition());
+        telemetry.addData("orange arm extension", robot.orangeArmBobbin.getCurrentPosition());
+        telemetry.addData("orange Turret Switch", robot.orangeMag.isPressed());
+        telemetry.addData("orange Turret Orbit Power", robot.turretServoOrange.getPower());
+        telemetry.addData("Orange Door Position", robot.orangeDispenser.getPosition());
+        telemetry.addLine();
+
+        telemetry.addData("driveWarehouseLeft", robot.driveWarehouseLeft.getCurrentPosition());
+        telemetry.addData("driveWarehouseRight", robot.driveWarehouseRight.getCurrentPosition());
+        telemetry.addData("driveGoalLeft", robot.driveGoalLeft.getCurrentPosition());
+        telemetry.addData("driveGoalRight", robot.driveGoalRight.getCurrentPosition());
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/BlueWarehouseEngine.java

@@ -18,18 +18,20 @@ public class BlueWarehouseEngine extends CyberarmEngine {
     @Override
     public void setup() {
         this.robot = new Robot(this);
+        robot.resetEncoders();
 
-        addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "BlueWarehouseAutonomous", "01_0"));
-        addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "01_1"));
-//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "02_0"));
-//        addState(new TurretArmRiser(robot, robot.whiteArmRiser, "BlueWarehouseAutonomous", "03_0_middle"));
-//        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "04_0_middle"));
-        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "05_0"));
-        addState(new CollectorToggle(robot, robot.collectorWhite, "BlueWarehouseAutonomous", "06_0"));
-        addState(new TurretArmExtension(robot, robot.whiteArmBobbin, "BlueWarehouseAutonomous", "07_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, robot.orangeMag, "BlueWarehouseAutonomous", "01_0"));
+        addState(new TensorFlowState(robot, robot.orangeArmRiser, robot.orangeArmBobbin, "BlueWarehouseAutonomous", "01_1"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "02_0"));
+//        addState(new TurretArmRiser(robot, robot.orangeArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "04_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "BlueWarehouseAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "BlueWarehouseAutonomous", "06_0"));
+        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "BlueWarehouseAutonomous", "07_0"));
         addState(new DriveState(robot,"BlueWarehouseAutonomous", "08_0"));
         addState(new DriveState(robot, "BlueWarehouseAutonomous", "09_0"));
-        addState(new DriveState(robot, "BlueWarehouseAutonomous", "10_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, null, "BlueWarehouseAutonomous", "10_0"));
+        addState(new DriveState(robot, "BlueWarehouseAutonomous", "10_1"));
 
     }
 

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedDuckEngine.java

@@ -0,0 +1,36 @@
+package org.timecrafters.FreightFrenzy.Competition.Autonomous.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.CollectorToggle;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.DriveState;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TensorFlowState;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretArmExtension;
+import org.timecrafters.FreightFrenzy.Competition.Autonomous.States.TurretOrbit;
+import org.timecrafters.FreightFrenzy.Competition.Common.Robot;
+
+@Autonomous(name = "RedDuckAutonomous", group = "red")
+
+public class RedDuckEngine extends CyberarmEngine {
+
+    @Override
+    public void setup() {
+        Robot robot = new Robot(this);
+        robot.resetEncoders();
+
+        addState(new TurretOrbit(robot, robot.turretServoOrange, robot.orangeMag, "RedDuckAutonomous", "01_0"));
+        addState(new TensorFlowState(robot, robot.orangeArmRiser, robot.orangeArmBobbin, "RedDuckAutonomous", "01_1"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "02_0"));
+//        addState(new TurretArmRiser(robot, robot.orangeArmRiser, "RedWarehouseAutonomous", "03_0_middle"));
+//        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedWarehouseAutonomous", "04_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "RedDuckAutonomous", "05_0"));
+        addState(new CollectorToggle(robot, robot.collectorOrange, "RedDuckAutonomous", "06_0"));
+        addState(new TurretArmExtension(robot, robot.orangeArmBobbin, "RedDuckAutonomous", "07_0"));
+        addState(new DriveState(robot,"RedDuckAutonomous", "08_0"));
+        addState(new DriveState(robot, "RedDuckAutonomous", "09_0"));
+        addState(new TurretOrbit(robot, robot.turretServoOrange, null, "RedDuckAutonomous", "10_0"));
+        addState(new DriveState(robot, "RedDuckAutonomous", "10_1"));
+
+    }
+}

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/Engines/RedWarehouseEngine.java

@@ -18,6 +18,7 @@ public class RedWarehouseEngine extends CyberarmEngine {
     @Override
     public void setup() {
         this.robot = new Robot(this);
+        robot.resetEncoders();
 
         addState(new TurretOrbit(robot, robot.turretServoWhite, robot.whiteMag, "RedWarehouseAutonomous", "01_0"));
         addState(new TensorFlowState(robot, robot.whiteArmRiser, robot.whiteArmBobbin, "RedWarehouseAutonomous", "01_1"));

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/CollectorToggle.java

@@ -12,7 +12,7 @@ public class CollectorToggle extends CyberarmState {
     final static public int MODE_STOPPED = 0;
     double time;
     CRServo servo;
-    int power;
+    double power;
 
     public CollectorToggle(Robot robot, CRServo servo, String groupName, String actionName) {
         this.servo = servo;

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TensorFlowState.java

@@ -1,5 +1,7 @@
 package org.timecrafters.FreightFrenzy.Competition.Autonomous.States;
 
+import android.util.Log;
+
 import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.cyberarm.engine.V2.CyberarmState;
@@ -13,8 +15,10 @@ public class TensorFlowState extends CyberarmState {
     Robot robot;
     private List<Recognition> recognitions;
     private double checkTime;
-    private int manualPath;
-    private int path = 0;
+    private int manualPath = 0;
+    private int path = 3;
+    private double leftDuck;
+    private double middleDuck;
 
     private String groupName;
     private DcMotor armRiser, armExtension;
@@ -24,6 +28,9 @@ public class TensorFlowState extends CyberarmState {
         this.groupName = groupName;
         this.armRiser = armRiser;
         this.armExtension = armExtension;
+        this.leftDuck = robot.configuration.variable(groupName, actionName, "leftDuck").value();
+        this.middleDuck = robot.configuration.variable(groupName, actionName, "middleDuck").value();
+        this.checkTime = robot.configuration.variable(groupName, actionName, "time").value();
     }
 
     @Override
@@ -35,27 +42,24 @@ public class TensorFlowState extends CyberarmState {
     @Override
     public void exec() {
         recognitions = robot.tensorflowDetections();
-//
+
         if (runTime() < checkTime) {
-            if (manualPath != -1) {
+            if (recognitions != null && recognitions.size() != 0) {
+                if (recognitions.size() == 1) {
+                    Recognition recognition = recognitions.get(0);
 
-                if (recognitions != null) {
-                    if (recognitions.size() == 1) {
-                        Recognition recognition = recognitions.get(0);
-
-                        if (recognition.getLabel().equals("duck")){
-                            if (recognition.getLeft() < 320) {
-                                path = 0;
-                            } else {
-                                path = 1;
-                            }
-                        }
+                    if (recognition.getLeft() < leftDuck) {
+                        path = 0;
                     } else {
-                        path = 2;
+                        path = 1;
                     }
                 }
+            } else {
+                path = 2;
             }
         } else {
+            Log.i(TAG, "Choosen path: " + path);
+
             if (path == 0){
                 addState(new TurretArmExtension(robot, armExtension, groupName, "02_0"));
                 addState(new TurretArmRiser(robot, armRiser, groupName, "03_0_bottom"));
@@ -76,11 +80,21 @@ public class TensorFlowState extends CyberarmState {
 
     @Override
     public void telemetry() {
-        for (Recognition recognition : robot.tensorflowDetections()) {
+        engine.telemetry.addData("Runtime", runTime());
+        engine.telemetry.addData("Check Time", checkTime);
+        engine.telemetry.addData("Path", path);
+        engine.telemetry.addLine();
+
+        if (recognitions == null) {
+            return;
+        }
+
+        for (Recognition recognition : recognitions) {
             engine.telemetry.addData("Label", recognition.getLabel());
             engine.telemetry.addData("Left", recognition.getLeft());
             engine.telemetry.addData("Top", recognition.getTop());
             engine.telemetry.addData("Confidence", recognition.getConfidence());
+            engine.telemetry.addLine();
         }
     }
 }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmExtension.java

@@ -20,12 +20,6 @@ public class TurretArmExtension extends CyberarmState {
         this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
     }
 
-    @Override
-    public void start() {
-        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-    }
-
     @Override
     public void exec() {
         if (motor.getCurrentPosition() < targetPosition - tolerance){
@@ -40,4 +34,9 @@ public class TurretArmExtension extends CyberarmState {
             motor.setPower(0);
         }
     }
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("targetPosition", targetPosition);
+    }
 }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretArmRiser.java

@@ -20,12 +20,6 @@ public class TurretArmRiser extends CyberarmState {
         this.tolerance = robot.configuration.variable(groupName, actionName, "tolerance").value();
     }
 
-    @Override
-    public void start() {
-        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-    }
-
     @Override
     public void exec() {
         if (motor.getCurrentPosition() < targetPosition - tolerance){

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Autonomous/States/TurretOrbit.java

@@ -24,7 +24,7 @@ public class TurretOrbit extends CyberarmState {
 
     @Override
     public void exec() {
-  if (magnetSwitch.isPressed() || runTime() < time ){
+  if ((magnetSwitch != null && magnetSwitch.isPressed()) || runTime() > time ){
       servo.setPower(0);
       setHasFinished(true);
   }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/Common/Robot.java

@@ -274,6 +274,18 @@ public class Robot {
         }
     }
 
+    public void  resetEncoders(){
+        orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        orangeArmRiser.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        whiteArmRiser.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        orangeArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        orangeArmRiser.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        whiteArmRiser.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
     private void initTensorflow() {
         int tfodMonitorViewId = engine.hardwareMap.appContext.getResources().getIdentifier(
                 "tfodMonitorViewId", "id", engine.hardwareMap.appContext.getPackageName());

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/Competition/TeleOp/States/TeleOpState.java

@@ -28,7 +28,6 @@ public class TeleOpState extends CyberarmState {
     @Override
     public void start() {
         super.start();
-        // FIXME: Don't reset when doing autonomous stuff
         robot.whiteArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.whiteArmBobbin.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.orangeArmBobbin.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -47,7 +46,7 @@ public class TeleOpState extends CyberarmState {
         robot.driveGoalRight.setPower(-engine.gamepad1.right_stick_y * maxDriveSpeed);
 
         // dispenser powered
-        if (engine.gamepad1.b){
+        if (engine.gamepad1.a){
             robot.orangeDispenser.setPosition(0);
         }
         // if not pressed dispenser off
@@ -74,11 +73,11 @@ public class TeleOpState extends CyberarmState {
         if (engine.gamepad1.dpad_up || engine.gamepad1.dpad_down) {
 
             if (engine.gamepad1.dpad_up) {
-                robot.orangeArmRiser.setPower(0.8);
+                robot.orangeArmRiser.setPower(1);
             }
 
             if (engine.gamepad1.dpad_down) {
-                robot.orangeArmRiser.setPower(-0.5);
+                robot.orangeArmRiser.setPower(-1);
             }
         }
         // nothing pressed nothing move...
@@ -86,12 +85,14 @@ public class TeleOpState extends CyberarmState {
             robot.orangeArmRiser.setPower(0);
         }
 
-        // button x pressed carousel wheel move.
+        // button x pressed carousel wheel move, for blue side, if b pressed wheel spins for red side;
 
-        if (engine.gamepad1.x){
+        if (engine.gamepad2.b){
             robot.carouselWheel.setPower(1);
         }
-
+        else if (engine.gamepad2.x){
+            robot.carouselWheel.setPower(-1);
+        }
         else {
             robot.carouselWheel.setPower(0);
         }
@@ -114,7 +115,7 @@ public class TeleOpState extends CyberarmState {
 
 
         // if b is pressed then depositor door opens, if not pressed not opening.
-        if (engine.gamepad2.b){
+        if (engine.gamepad2.a){
             robot.whiteDispenser.setPosition(.5);
         }
 
@@ -128,11 +129,11 @@ public class TeleOpState extends CyberarmState {
         if (engine.gamepad2.dpad_down || engine.gamepad2.dpad_up) {
 
             if (engine.gamepad2.dpad_up) {
-                robot.whiteArmRiser.setPower(8);
+                robot.whiteArmRiser.setPower(1);
             }
 
             if (engine.gamepad2.dpad_down) {
-                robot.whiteArmRiser.setPower(-0.5);
+                robot.whiteArmRiser.setPower(-1);
             }
         }
         // nothing pressed nothing move...

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/MecanumRobot_Spencer/MecanumRobot.java

@@ -0,0 +1,37 @@
+package org.timecrafters.FreightFrenzy.MecanumRobot_Spencer;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+public class MecanumRobot {
+
+    private final CyberarmEngine engine;
+
+    // Drivetrain
+
+    public DcMotor driveFrontLeft, driveFrontRight, driveBackLeft, driveBackRight;
+
+
+
+    public MecanumRobot(CyberarmEngine engine) {
+        this.engine = engine;
+        initDrivetrain();
+    }
+    private void initDrivetrain() {
+
+        driveFrontRight = engine.hardwareMap.dcMotor.get("driveFrontRight");
+        driveFrontLeft  = engine.hardwareMap.dcMotor.get("driveFrontLeft");
+        driveBackRight  = engine.hardwareMap.dcMotor.get("driveBackRight");
+        driveBackLeft   = engine.hardwareMap.dcMotor.get("driveBackLeft");
+
+        driveFrontLeft.setDirection(DcMotorSimple.Direction.FORWARD);
+        driveFrontRight.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        driveBackLeft.setDirection(DcMotorSimple.Direction.FORWARD);
+        driveBackRight.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
+}
+
+

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/MecanumRobot_Spencer/Mecanum_Drive_Engine.java

@@ -0,0 +1,13 @@
+package org.timecrafters.FreightFrenzy.MecanumRobot_Spencer;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+
+@TeleOp(name = "TeleOp Mecanum Robot")
+
+public class Mecanum_Drive_Engine extends CyberarmEngine {
+    @Override
+    public void setup() { addState(new TeleOpStateMecanumRobot(new MecanumRobot(this)));}
+
+    }

TeamCode/src/main/java/org/timecrafters/FreightFrenzy/MecanumRobot_Spencer/TeleOpStateMecanumRobot.java

@@ -0,0 +1,117 @@
+package org.timecrafters.FreightFrenzy.MecanumRobot_Spencer;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.FreightFrenzy.MecanumRobot_Spencer.MecanumRobot;
+
+public class TeleOpStateMecanumRobot extends CyberarmState {
+
+    MecanumRobot robot;
+
+    public TeleOpStateMecanumRobot(MecanumRobot mecanumRobot) {
+
+    }
+
+    @Override
+    public void exec() {
+
+        // Slow Mode
+
+        if (engine.gamepad1.left_trigger > 0.5){
+        // TankDrive
+        // Left joystick forward; Left side forward;
+
+        robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 0.5);
+        robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 0.5);
+
+        // Right joystick forward; Right side forward;
+        robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 0.5);
+        robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 0.5);
+
+
+        // Strafing left and right
+
+        if (engine.gamepad1.left_bumper) {
+            robot.driveFrontLeft.setPower(0.5);
+            robot.driveBackLeft.setPower(-0.5);
+            robot.driveFrontRight.setPower(-0.5);
+            robot.driveBackRight.setPower(0.5);
+        } else if (engine.gamepad1.right_bumper) {
+            robot.driveFrontLeft.setPower(-0.5);
+            robot.driveBackLeft.setPower(0.5);
+            robot.driveFrontRight.setPower(0.5);
+            robot.driveBackRight.setPower(-0.5);
+    }
+//        else {
+//            robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 0.5);
+//            robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 0.5);
+//            robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 0.5);
+//            robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 0.5);
+
+
+       // }
+    // Normal Speed
+
+        if (engine.gamepad1.right_stick_button) {
+
+            // left stick forward; right side foward
+            robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 1);
+            robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 1);
+
+            // right stick foward; right side foward;
+            robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 1);
+            robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 1);
+
+        }
+            // Strafing left and right
+
+            if (engine.gamepad1.left_bumper) {
+                robot.driveFrontLeft.setPower(1);
+                robot.driveBackLeft.setPower(-1);
+                robot.driveFrontRight.setPower(-1);
+                robot.driveBackRight.setPower(1);
+            } else if (engine.gamepad1.right_bumper) {
+                robot.driveFrontLeft.setPower(-1);
+                robot.driveBackLeft.setPower(1);
+                robot.driveFrontRight.setPower(1);
+                robot.driveBackRight.setPower(-1);
+            } else {
+                robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 1);
+                robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 1);
+                robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 1);
+                robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 1);
+
+            }
+        }
+
+        else {
+            // left stick foward; right side foward
+            robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 1);
+            robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 1);
+
+            // right stick foward; right side foward;
+            robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 1);
+            robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 1);
+
+
+            // Strafing left and right
+
+//            if (engine.gamepad1.left_bumper) {
+//                robot.driveFrontLeft.setPower(1);
+//                robot.driveBackLeft.setPower(-1);
+//                robot.driveFrontRight.setPower(-1);
+//                robot.driveBackRight.setPower(1);
+//            } else if (engine.gamepad1.right_bumper) {
+//                robot.driveFrontLeft.setPower(-1);
+//                robot.driveBackLeft.setPower(1);
+//                robot.driveFrontRight.setPower(1);
+//                robot.driveBackRight.setPower(-1);
+//            } else {
+//                robot.driveFrontLeft.setPower(engine.gamepad1.left_stick_y * 1);
+//                robot.driveBackLeft.setPower(engine.gamepad1.left_stick_y * 1);
+//                robot.driveFrontRight.setPower(engine.gamepad1.right_stick_y * 1);
+//                robot.driveBackRight.setPower(engine.gamepad1.right_stick_y * 1);
+//
+//            }
+        }
+    }
+}