Merge remote-tracking branch 'origin/Train' into Train

Author: PatrickT209

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java

@@ -0,0 +1,57 @@
+package org.firstinspires.ftc.teamcode.opmode;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+@Config
+@TeleOp
+public class nickpidloop extends LinearOpMode {
+
+    private DcMotor leftFrontMotor;
+    private DcMotor rightFrontMotor;
+    private DcMotor leftBackMotor;
+    private DcMotor rightBackMotor;
+    private DcMotor Arm;
+    double refrence;
+
+    public void runOpMode()  throws InterruptedException {
+
+        leftFrontMotor = hardwareMap.get(DcMotor.class, "front_left");
+        rightFrontMotor = hardwareMap.get(DcMotor.class, "front_right");
+        leftBackMotor = hardwareMap.get(DcMotor.class, "back_left");
+        rightBackMotor = hardwareMap.get(DcMotor.class, "back_right");
+        Arm = hardwareMap.get(DcMotor.class, "arm");
+        double encoderPosition = 0;
+        waitForStart();
+        double error = 1.1;
+        double power = 0;
+
+        refrence = 300;
+        Arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        Arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        while (opModeIsActive()) {
+
+            while (gamepad1.b)
+
+
+                // obtaining encoder position
+                encoderPosition = Arm.getCurrentPosition();
+                // calculate error
+                error = refrence - encoderPosition;
+                power = (error/250)*.7;
+                if(power>0.7){
+                    power = 0.7;
+                }
+                else if(power<-.7){
+                    power = -0.7;
+                }
+
+        }
+    }
+
+
+}