Merge pull request #12 from IrishRobotics/11-create-basic-op-mode-with-subsystems

11 create basic op mode with subsystems

Author: ngarnsworthy

TeamCode/build.gradle

@@ -25,4 +25,5 @@ android {
 
 dependencies {
     implementation project(':FtcRobotController')
+    implementation 'org.ftclib.ftclib:core:2.1.1'
 }

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

@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.arcrobotics.ftclib.drivebase.MecanumDrive;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.hardware.motors.Motor;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+@TeleOp(name = "PrimaryOpMode", group= "NormalOpModes")
+public class PrimaryOpMode extends OpMode {
+    private Motor fL, fR, bL, bR;
+    private MecanumDrive drive;
+    private GamepadEx driverOp;
+
+    @Override
+    public void init() {
+        fL = new Motor(hardwareMap, "frontLeftDrive");
+        fR = new Motor(hardwareMap, "frontRightDrive");
+        bL = new Motor(hardwareMap, "backLeftDrive");
+        bR = new Motor(hardwareMap, "backRightDrive");
+
+        drive = new MecanumDrive(fL, fR, bL, bR);
+        driverOp= new GamepadEx(gamepad1);
+    }
+
+    @Override
+    public void loop() {
+        drive.driveRobotCentric(
+                driverOp.getLeftX(),
+                driverOp.getLeftY(),
+                driverOp.getRightX()
+        );
+    }
+}

build.common.gradle

@@ -53,6 +53,7 @@ android {
         minSdkVersion 24
         //noinspection ExpiredTargetSdkVersion
         targetSdkVersion 28
+        multiDexEnabled true
 
         /**
          * We keep the versionCode and versionName of robot controller applications in sync with
@@ -89,14 +90,14 @@ android {
             signingConfig signingConfigs.release
 
             ndk {
-                abiFilters "armeabi-v7a", "arm64-v8a"
+                abiFilters "armeabi-v7a"
             }
         }
         debug {
             debuggable true
             jniDebuggable true
             ndk {
-                abiFilters "armeabi-v7a", "arm64-v8a"
+                abiFilters "armeabi-v7a"
             }
         }
     }