AcquisitionTest

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

@TeleOp
public class TestAcquis extends LinearOpMode{

    // Declare OpMode members
    HardwareBase robot = new HardwareBase();

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        /* Initialize the hardware variables.
         * The init() method of the hardware class does all the work here
         */
        robot.init(hardwareMap);
        
        waitForStart();
        
        robot.acq2.setDirection(DcMotor.Direction.FORWARD);
        robot.acq1.setDirection(DcMotor.Direction.FORWARD);
        
        // RESET ENCODERS
        robot.acq1.setMode(DcMotor.RunMode.RESET_ENCODERS);
        robot.acq2.setMode(DcMotor.RunMode.RESET_ENCODERS);

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
            
            double leftpower;
            double rightpower;
            
            leftpower = gamepad1.right_stick_y;
            rightpower = gamepad1.left_stick_y;
        
            robot.acq1.setPower(leftpower);
            robot.acq2.setPower(rightpower);
        
            telemetry.addData("Position of Extension:  ", robot.acq1.getCurrentPosition());
            telemetry.addData("Position of Extension:  ", robot.acq2.getCurrentPosition());
            telemetry.update();
        }
        
    }
}