/**
 * Created by spmce on 2/9/2016.
 */
package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.ftccommon.DbgLog;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.GyroSensor;
import com.qualcomm.robotcore.hardware.HardwareDevice;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.UltrasonicSensor;
import com.qualcomm.robotcore.util.Range;
import java.text.DecimalFormat;
import java.text.NumberFormat;
import java.util.ArrayList;

/**
 * Provides a single hardware access point between custom op-modes and the OpMode class for this Robot.
 * @author Shane McEnaney
 * @version 2016
 */
public class RobotHardware extends OpMode {

    private boolean warningGenerated = false;
    private String warningMessage;

    protected DcMotor leftDrive, rightDrive;
    protected Servo hook, spinner;

    public RobotHardware() {
        mapDriveTrain();
        mapServos();
    }

    @Override
    public void init() {
        warningGenerated = false; // Provide telemetry data to a class user
        warningMessage = "Can't map: ";
    }

    @Override
    public void loop() {

    }

    boolean getWarningGenerated () {return warningGenerated;}

    String getWarningMessage () {return warningMessage;}

    void setWarningMessage (String opModeExceptionMessage) {
        if (warningGenerated)
            warningMessage += ", ";
        warningGenerated = true;
        warningMessage += opModeExceptionMessage;
    }

    private void mapDevice (HardwareDevice device) {
        try {
            device = hardwareMap.dcMotor.get(String.valueOf(device));
        } catch (Exception opModeException) {
            setWarningMessage(String.valueOf(device));
            DbgLog.msg(opModeException.getLocalizedMessage());
        }
    }

    private void reverseDirection(DcMotor motor) {
        motor.setDirection(DcMotor.Direction.REVERSE);
    }

    private void mapDriveTrain() {
        mapDevice(leftDrive);
        reverseDirection(rightDrive);
        mapDevice(rightDrive);
    }

    private void mapServos() {
        mapDevice(hook);
        mapDevice(spinner);
    }

    void setMotor(DcMotor motor, double power) {
        motor.setPower(power);
    }

    void setDriveTrain(double power) {
        leftDrive.setPower(power);
        rightDrive.setPower(power);
    }
    void setDriveTrain(double left ,double right) {
        leftDrive.setPower(left);
        rightDrive.setPower(right);
    }
}

/**
 * Created by spmce on 2/9/2016.
 */
package com.qualcomm.ftcrobotcontroller.opmodes;
import com.qualcomm.ftccommon.DbgLog;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.hardware.GyroSensor;
import com.qualcomm.robotcore.hardware.HardwareDevice;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.hardware.UltrasonicSensor;
import com.qualcomm.robotcore.util.Range;
import java.text.DecimalFormat;
import java.text.NumberFormat;
import java.util.ArrayList;

/**
 * Provides a single hardware access point between custom op-modes and the OpMode class for this Robot.
 * @author Shane McEnaney
 * @version 2016
 */
public class RobotHardware extends OpMode {

    private boolean warningGenerated = false;
    private String warningMessage;

    protected DcMotor leftDrive, rightDrive;
    protected Servo hook, spinner;

    public RobotHardware() {
        mapDriveTrain();
        mapServos();
    }

    @Override
    public void init() {
        warningGenerated = false; // Provide telemetry data to a class user
        warningMessage = "Can't map: ";
    }

    @Override
    public void loop() {

    }

    boolean getWarningGenerated () {return warningGenerated;}

    String getWarningMessage () {return warningMessage;}

    void setWarningMessage (String opModeExceptionMessage) {
        if (warningGenerated)
            warningMessage += ", ";
        warningGenerated = true;
        warningMessage += opModeExceptionMessage;
    }

    private void mapDevice (HardwareDevice device) {
        try {
            device = hardwareMap.dcMotor.get(String.valueOf(device));
        } catch (Exception opModeException) {
            setWarningMessage(String.valueOf(device));
            DbgLog.msg(opModeException.getLocalizedMessage());
        }
    }

    private void reverseDirection(DcMotor motor) {
        motor.setDirection(DcMotor.Direction.REVERSE);
    }

    private void mapDriveTrain() {
        mapDevice(leftDrive);
        reverseDirection(rightDrive);
        mapDevice(rightDrive);
    }

    private void mapServos() {
        mapDevice(hook);
        mapDevice(spinner);
    }
    
    double getMotor(DcMotor motor) {
        return motor.getPower();
    }
    void setMotor(DcMotor motor, double power) {
        motor.setPower(power);
    }

    void setDriveTrain(double power) {
        leftDrive.setPower(power);
        rightDrive.setPower(power);
    }
    void setDriveTrain(double left ,double right) {
        leftDrive.setPower(left);
        rightDrive.setPower(right);
    }
}

Update RobotHardware.java