Created my first OpMode for Mecanum Drive

Author: ngarnsworthy

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/learning/ChaseFirstOpMode.java

@@ -0,0 +1,51 @@
+package org.firstinspires.ftc.teamcode.OpModes.learning;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+import org.firstinspires.ftc.teamcode.Constants;
+
+@TeleOp(name="Chase's OpMode", group = "Example OpMode")
+public class ChaseFirstOpMode extends OpMode {
+    private DcMotor frontLeftMotor;
+    private DcMotor frontRightMotor;
+    private DcMotor backLeftMotor;
+    private DcMotor backRightMotor;
+
+    @Override
+    public void init() {
+        frontLeftMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.flMotorName);
+        frontRightMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.frMotorName);
+        backLeftMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.blMotorName);
+        backRightMotor = hardwareMap.get(DcMotor.class, Constants.Drivetrain.brMotorName);
+
+        frontLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+        backLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+    }
+
+    @Override
+    public void loop() {
+        double y = gamepad1.left_stick_y;
+        double x = gamepad1.left_stick_x;
+        double rx = gamepad1.right_stick_x;
+
+        double denominator = Math.max(Math.abs(x) + Math.abs(y) + Math.abs(rx), 1);
+        double frontLeftPower = (y + x + rx) / denominator;
+        double frontRightPower = (y - x - rx) / denominator;
+        double backLeftPower = (y - x + rx) / denominator;
+        double backRightPower = (y + x - rx) / denominator;
+
+        frontLeftMotor.setPower(frontLeftPower);
+        frontRightMotor.setPower(frontRightPower);
+        backLeftMotor.setPower(backLeftPower);
+        backRightMotor.setPower(backRightPower);
+
+        telemetry.addData("Status", "Running");
+        telemetry.update();
+    }
+}