Timings

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configurations/Robot.kt

@@ -36,11 +36,11 @@ class Robot(map: HardwareMap) : RobotConfiguration() {
 
     @JvmField
     var liftLeftB // 0
-            : DcMotor = map.typedGet("slideLeft")
+            : DcMotor? = map.typedMaybeGet("slideLeft")
 
     @JvmField
     var liftRightB // 1
-            : DcMotor = map.typedGet("slideRight")
+            : DcMotor? = map.typedMaybeGet("slideRight")
 
     @JvmField
     var dumperRotateB // 2
@@ -67,8 +67,8 @@ class Robot(map: HardwareMap) : RobotConfiguration() {
                 0.0
             )
         }
-    override val liftLeft: DcMotor get() = liftLeftB
-    override val liftRight: DcMotor get() = liftRightB
+    override val liftLeft: DcMotor get() = liftLeftB!!
+    override val liftRight: DcMotor get() = liftRightB!!
     override val liftLock: SharedResource = SharedResource("lift") {
         liftLeft.power = 0.0
         liftRight.power = 0.0
@@ -108,15 +108,19 @@ class Robot(map: HardwareMap) : RobotConfiguration() {
         setReverse(backLeft)
         enableBrakes(frontLeft, frontRight, backLeft, backRight)
 
-        liftLeftB.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER
-        liftLeftB.targetPosition = 0
-        liftLeftB.power = 1.0
-        liftLeftB.mode = DcMotor.RunMode.RUN_TO_POSITION
-        liftRightB.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER
-        liftRightB.targetPosition = 0
-        liftRightB.power = 1.0
-        liftRightB.mode = DcMotor.RunMode.RUN_TO_POSITION
-        setReverse(liftRightB)
+        if (liftLeftB != null) {
+            liftLeftB!!.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER
+            liftLeftB!!.targetPosition = 0
+            liftLeftB!!.power = 1.0
+            liftLeftB!!.mode = DcMotor.RunMode.RUN_TO_POSITION
+        }
+        if (liftRightB != null) {
+            liftRightB!!.mode = DcMotor.RunMode.STOP_AND_RESET_ENCODER
+            liftRightB!!.targetPosition = 0
+            liftRightB!!.power = 1.0
+            liftRightB!!.mode = DcMotor.RunMode.RUN_TO_POSITION
+            setReverse(liftRightB!!)
+        }
 
         // Adjust the orientation parameters to match your robot
         val parameters = IMU.Parameters(

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/Crab.java

@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -10,7 +9,7 @@
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 
-@Disabled
+//@Disabled
 @TeleOp
 public class Crab extends LinearOpMode {
     DcMotor.RunMode baseMode = DcMotor.RunMode.RUN_WITHOUT_ENCODER;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/MinimalTeleOp.kt

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.opmodes
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp
+import org.firstinspires.ftc.teamcode.configurations.RobotConfiguration
+import kotlin.math.abs
+import kotlin.math.max
+
+@TeleOp
+class MinimalTeleOp : LinearOpMode() {
+    override fun runOpMode() {
+        // Declare our motors
+        // Make sure your ID's match your configuration
+        val robot = RobotConfiguration.currentConfiguration()(hardwareMap)
+
+        waitForStart()
+        while (opModeIsActive()) {
+            val y = -gamepad1.left_stick_y.toDouble() // Remember, this is reversed!
+            val x = gamepad1.left_stick_x * 1.1 // Counteract imperfect strafing
+            val rx = gamepad1.right_stick_x.toDouble()
+
+            // Denominator is the largest motor power (absolute value) or 1
+            // This ensures all the powers maintain the same ratio, but only when
+            // at least one is out of the range [-1, 1]
+            val denominator = max(abs(y) + abs(x) + abs(rx), 1.0) * 1
+            val frontLeftPower: Double = (y + x + rx) / denominator
+            val backLeftPower: Double = (y - x + rx) / denominator
+            val frontRightPower: Double = (y - x - rx) / denominator
+            val backRightPower: Double = (y + x - rx) / denominator
+
+            robot.driveMotors().frontLeft.power = frontLeftPower
+            robot.driveMotors().backLeft.power = backLeftPower
+            robot.driveMotors().frontRight.power = frontRightPower
+            robot.driveMotors().backRight.power = backRightPower
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAuto.java

@@ -484,9 +484,9 @@ private void frontstage(AdvSphereProcess.Result result, int targetTag) {
         Consumer<Double> rightOnBlue = allianceColor() == AllianceColor.Blue ? why::strafeRight : why::strafeLeft;
         navFrontstage(result, rightOnBlue);
 
-        sleep(200);
+        sleep(500);
         alignTag(aprilTag, targetTag);
-        sleep(200);
+        sleep(500);
         alignTag(aprilTag, targetTag);
         scoreYellowPixel(scheduler, robot, theXButton, newOdo);
 
@@ -540,10 +540,9 @@ private void backstage(AdvSphereProcess.Result result, boolean posLeft, int targ
 
         navBackstage(scheduler, result, awayFromWall);
 
-        sleep(200);
-
+        sleep(500);
         alignTag(aprilTag, targetTag);
-        sleep(200);
+        sleep(500);
         alignTag(aprilTag, targetTag);
         scoreYellowPixel(scheduler, robot, theXButton, newOdo);
 
@@ -638,7 +637,7 @@ private void navBackstage(
         scheduler.runToCompletion(this::panic_button);
     }
 
-    public static final double[] frontstageTravelDistances = {18.5, 20.0, 27.0};
+    public static final double[] frontstageTravelDistances = {18.5, 20.0, 24.0};
 
     private void frontstageLeft() {
         turnPID.TurnRobot(-45.0);