From 09134a91b2afd501782b555af8d7e0c2c0a4e328 Mon Sep 17 00:00:00 2001
From: Jeffrey Mello <mrjeffreymello@gmail.com>
Date: Mon, 17 Nov 2025 15:32:15 -0500
Subject: [PATCH] Refactor utils classes and improve motor setup

Refactored TeleOpMain to instantiate utility classes in runOpMode instead of constructor. Added JavaDoc comments and clarified method purposes in DriveControls. Improved MotorConstructor by setting launcher motor directions and adding class-level documentation. Cleaned up RampControls constructor order. Removed CommonControlsTest unit test file.
---
 .run/BlueAllianceBackField MeepMeep.run.xml   |   2 +-
 .run/BlueAllianceMidField MeepMeep.run.xml    |   2 +-
 .run/RedAllianceBackField MeepMeep.run.xml    |   2 +-
 .run/RedAllianceMidField MeepMeep.run.xml     |   2 +-
 .../ftc/teamcode/TeleOpMain.java              |  17 +-
 .../teamcode/Utils_13233/DriveControls.java   |  18 +-
 .../Utils_13233/MotorConstructor.java         |  12 +-
 .../teamcode/Utils_13233/RampControls.java    |  11 +-
 .../ftc/teamcode/CommonControlsTest.java      | 192 ------------------
 9 files changed, 42 insertions(+), 216 deletions(-)
 delete mode 100644 TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java

diff --git a/.run/BlueAllianceBackField MeepMeep.run.xml b/.run/BlueAllianceBackField MeepMeep.run.xml
index 27b49e5..77ae553 100644
--- a/.run/BlueAllianceBackField MeepMeep.run.xml	
+++ b/.run/BlueAllianceBackField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="BlueAllianceBackField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="BlueAllianceBackField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.BlueAllianceBackField" />
diff --git a/.run/BlueAllianceMidField MeepMeep.run.xml b/.run/BlueAllianceMidField MeepMeep.run.xml
index 32cc955..303871a 100644
--- a/.run/BlueAllianceMidField MeepMeep.run.xml	
+++ b/.run/BlueAllianceMidField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="BlueAllianceMidField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="BlueAllianceMidField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.BlueAllianceMidField" />
diff --git a/.run/RedAllianceBackField MeepMeep.run.xml b/.run/RedAllianceBackField MeepMeep.run.xml
index 2d9609e..57f0459 100644
--- a/.run/RedAllianceBackField MeepMeep.run.xml	
+++ b/.run/RedAllianceBackField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="RedAllianceBackField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="RedAllianceBackField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.RedAllianceBackField" />
diff --git a/.run/RedAllianceMidField MeepMeep.run.xml b/.run/RedAllianceMidField MeepMeep.run.xml
index 9b03c63..bc33977 100644
--- a/.run/RedAllianceMidField MeepMeep.run.xml	
+++ b/.run/RedAllianceMidField MeepMeep.run.xml	
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="RedAllianceMidField MeepMeep" type="Application" factoryName="Application">
+  <configuration default="false" name="RedAllianceMidField MeepMeep" type="Application" factoryName="Application" folderName="MeepMeep">
     <option name="ALTERNATIVE_JRE_PATH" value="ms-17" />
     <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="true" />
     <option name="MAIN_CLASS_NAME" value="com.example.meepmeeptesting.RedAllianceMidField" />
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
index 2ff114c..f183239 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java
@@ -15,21 +15,18 @@
 public class TeleOpMain extends LinearOpMode {
 
     // Constructors for the utils classes
-    private final DriveControls drive;
-    private final LaunchControls launch;
-    private final RampControls ramp;
-
-    public TeleOpMain(HardwareMap hardwareMap) {
-        this.drive = new DriveControls(hardwareMap);
-        this.launch = new LaunchControls(hardwareMap);
-        this.ramp = new RampControls(hardwareMap);
-    }
+    private DriveControls drive;
+    private LaunchControls launch;
+    private RampControls ramp;
 
 
     //This function is executed when this Op Mode is selected from the Driver Station
     @Override
     public void runOpMode() {
-        // Initialize the CommonControls class
+        // Create the utils classes
+        drive = new DriveControls(hardwareMap);
+        launch = new LaunchControls(hardwareMap);
+        ramp = new RampControls(hardwareMap);
 
         // The waitForStart() function will wait for the start button to begin
         // DON'T WRITE ANY CODE AFTER THE WAIT FOR START UNTIL THE "while (opModIsActive())"
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
index 7412ad4..baa308f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java
@@ -55,7 +55,12 @@ public void setDrivePower(float controlLeftStickY) {
         setDrivePower(controlLeftStickY, 0.0f, 0.0f, 0.0f);
     }
 
-    // TODO: Create JavaDoc
+
+    // TODO: Write Unit test
+
+    /**
+     * Sets all of the drive motors' zero power behavior to BRAKE
+     */
     void setDriveBrake() {
         motors.leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         motors.rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -63,7 +68,9 @@ void setDriveBrake() {
         motors.rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
     }
 
-    // TODO: Create JavaDoc
+    /**
+     * Sets all of the drive motors' zero power behavior to FLOAT
+     */
     void setDriveFloat() {
         motors.leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
         motors.rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
@@ -71,7 +78,12 @@ void setDriveFloat() {
         motors.rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
     }
 
-    // TODO: Create JavaDoc
+    /**
+     * Function that allows for the driver to control the zero power behavior of the drive motors
+     * to either BRAKE or FLOAT float is the default if no input is given on the controller
+     *
+     * @param input Controller button input to determine if the motors should be in BRAKE or FLOAT
+     */
     public void setDriveMotorZeroPowerBehavior(boolean input) {
         if (input) {
             setDriveBrake();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
index 4895072..ff7e62e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/MotorConstructor.java
@@ -5,6 +5,9 @@
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+/**
+ * Class holds motors and servos that are used throughout the code
+ */
 public class MotorConstructor {
     /**
      * Front left drive motor
@@ -50,7 +53,7 @@ public class MotorConstructor {
     public CRServo rampServo3;
     public CRServo rampServo4;
 
-    public MotorConstructor(HardwareMap hardwareMap){
+    public MotorConstructor(HardwareMap hardwareMap) {
         // Map main Drive Motors
         leftFront = hardwareMap.get(DcMotor.class, "leftFront");
         rightFront = hardwareMap.get(DcMotor.class, "rightFront");
@@ -61,7 +64,7 @@ public MotorConstructor(HardwareMap hardwareMap){
         intake = hardwareMap.get(DcMotor.class, "intake");
 
         // Map the launcher Prototype
-        Launcher  = hardwareMap.get(DcMotor.class, "Launcher");
+        Launcher = hardwareMap.get(DcMotor.class, "Launcher");
         Launcher2 = hardwareMap.get(DcMotor.class, "Launcher2");
 
         rampServo1 = hardwareMap.get(CRServo.class, "rampServo1");
@@ -75,6 +78,11 @@ public MotorConstructor(HardwareMap hardwareMap){
         leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
         rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        // Set the direction of the launcher motor
+        Launcher.setDirection(DcMotorSimple.Direction.REVERSE);
+        Launcher2.setDirection(DcMotorSimple.Direction.REVERSE);
+
+
         // Set the direction of the intake motor
         intake.setDirection(DcMotorSimple.Direction.REVERSE);
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
index 2de0485..4154f50 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/RampControls.java
@@ -3,17 +3,18 @@
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 public class RampControls {
+    private final MotorConstructor motors;
+
+    public RampControls(HardwareMap hardwareMap) {
+        this.motors = new MotorConstructor(hardwareMap);
+    }
+
     /**
      * Controls the spin direction of the intake wheel based on controller buttons
      *
      * @param intakeForwardInput Button mapped to forward input
      * @param intakeReverseInput Button mapped to reverse input
      */
-    private final MotorConstructor motors;
-
-    public RampControls(HardwareMap hardwareMap) {
-        this.motors = new MotorConstructor(hardwareMap);
-    }
     public void setIntakeDirection(boolean intakeForwardInput, boolean intakeReverseInput) {
         double intakePower = 0;
         // ^ is the XOR operator, will return true if only one variable is true
diff --git a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java b/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java
deleted file mode 100644
index 02e040e..0000000
--- a/TeamCode/src/test/java/org/firstinspires/ftc/teamcode/CommonControlsTest.java
+++ /dev/null
@@ -1,192 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
-import static org.mockito.Mockito.when;
-
-import com.qualcomm.robotcore.hardware.CRServo;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.DisplayName;
-import org.junit.jupiter.api.Test;
-
-public class CommonControlsTest {
-
-    private DcMotor leftFront, rightFront, leftBack, rightBack, intake, Launcher, Launcher2;
-    private CRServo rampServo1;
-    private CRServo rampServo2;
-    private CommonControls controls;
-
-    @BeforeEach
-    void setUp() {
-        // Mock all motors
-        leftFront = mock(DcMotor.class);
-        rightFront = mock(DcMotor.class);
-        leftBack = mock(DcMotor.class);
-        rightBack = mock(DcMotor.class);
-
-        intake = mock(DcMotor.class);
-        Launcher = mock(DcMotor.class);
-        Launcher2 = mock(DcMotor.class);
-
-        rampServo1 = mock(CRServo.class);
-        rampServo2 = mock(CRServo.class);
-        CRServo rampServo3 = mock(CRServo.class);
-        CRServo rampServo4 = mock(CRServo.class);
-
-
-        // Mock HardwareMap and its nested dcMotor map
-        HardwareMap hardwareMap = mock(HardwareMap.class);
-        HardwareMap.DeviceMapping<CRServo> crServoMap = mock(HardwareMap.DeviceMapping.class);
-        HardwareMap.DeviceMapping<DcMotor> dcMotorMap = mock(HardwareMap.DeviceMapping.class);
-
-        when(hardwareMap.get(DcMotor.class, "intake")).thenReturn(intake);
-        when(hardwareMap.get(DcMotor.class, "leftFront")).thenReturn(leftFront);
-        when(hardwareMap.get(DcMotor.class, "rightFront")).thenReturn(rightFront);
-        when(hardwareMap.get(DcMotor.class, "leftBack")).thenReturn(leftBack);
-        when(hardwareMap.get(DcMotor.class, "rightBack")).thenReturn(rightBack);
-
-        when(dcMotorMap.get("leftFront")).thenReturn(leftFront);
-        when(dcMotorMap.get("rightFront")).thenReturn(rightFront);
-        when(dcMotorMap.get("leftBack")).thenReturn(leftBack);
-        when(dcMotorMap.get("rightBack")).thenReturn(rightBack);
-        when(dcMotorMap.get("Launcher")).thenReturn(Launcher);
-        when(dcMotorMap.get("Launcher2")).thenReturn(Launcher2);
-        when(crServoMap.get("rampServo1")).thenReturn(rampServo1);
-        when(crServoMap.get("rampServo2")).thenReturn(rampServo2);
-        when(crServoMap.get("rampServo3")).thenReturn(rampServo3);
-        when(crServoMap.get("rampServo4")).thenReturn(rampServo4);
-
-        // Set direction of the main drive motors
-        leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // Set the direction of the intake motor
-        intake.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        hardwareMap.dcMotor = dcMotorMap;
-        hardwareMap.crservo = crServoMap;
-        controls = new CommonControls(hardwareMap);
-    }
-
-    @DisplayName("Pushing left stick Y fully should set all motors to 1.0")
-    @Test
-    void testSetDrivePower_forwardOnly() {
-        // Forward input only, no strafe or rotation, full speed
-        controls.setDrivePower(-1.0f, 0.0f, 0.0f,
-            0.0f);
-
-        // Expected power: all motors get 1.0
-        verify(leftFront).setPower(-1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(-1.0);
-        verify(rightBack).setPower(-1.0);
-    }
-
-    @DisplayName("Pushing left stick Y fully should set back right and front left motors to 1.0" +
-        "and should set back left and front right motors to -1.0")
-    @Test
-    void testSetDrivePower_strafeRightOnly() {
-        controls.setDrivePower(0.0f, -1.0f, 0.0f,
-            0.0f);
-
-        // Expected power: set back right and front left motors to 1.0 and should set back left and
-        // front right motors to -1.0"
-        // Expected power: all motors get 1.0
-        verify(leftFront).setPower(1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(-1.0);
-        verify(rightBack).setPower(1.0);
-    }
-
-    @DisplayName("Pushing right stick X fully should set the left motors to 1.0" +
-        " and the right motors to -1.0")
-    @Test
-    void testSetDrivePower_turnRight() {
-        controls.setDrivePower(0.0f, 0.0f, -1.0f,
-            0.0f);
-
-        // Expected power: left motors get 1.0 and right motors get -1.0
-        verify(leftFront).setPower(1.0);
-        verify(rightFront).setPower(-1.0);
-        verify(leftBack).setPower(1.0);
-        verify(rightBack).setPower(-1.0);
-    }
-
-    @DisplayName("Intake should spin forward when forward button is pressed")
-    @Test
-    void testIntakeForward() {
-        controls.setIntakeDirection(true, false);
-        verify(intake).setPower(1.0);
-        verify(rampServo1).setPower(-1.0);
-        verify(rampServo2).setPower(1.0);
-    }
-
-    @DisplayName("Intake should spin backward when reverse button is pressed")
-    @Test
-    void testIntakeReverse() {
-        controls.setIntakeDirection(false, true);
-        verify(intake).setPower(-1.0);
-        verify(rampServo1).setPower(1.0);
-        verify(rampServo2).setPower(-1.0);
-    }
-
-    @DisplayName("Intake should not spin when direction buttons are not depressed")
-    @Test
-    void testIntakeNeutral() {
-        controls.setIntakeDirection(false, false);
-        verify(intake).setPower(0.0);
-        verify(rampServo1).setPower(-0.0);
-        verify(rampServo2).setPower(0.0);
-    }
-
-    @DisplayName("Intake should stop when both direction buttons pressed at the same time")
-    @Test
-    void testIntakeConflict() {
-        controls.setIntakeDirection(true, true);
-        verify(intake).setPower(0.0);
-        verify(rampServo1).setPower(-0.0);
-        verify(rampServo2).setPower(0.0);
-    }
-
-    @DisplayName("Launcher should spin when input given")
-    @Test
-    void testLaunchPower() {
-        controls.setLaunchPower(true);
-        verify(Launcher).setPower(controls.launchPower);
-        verify(Launcher2).setPower(-controls.launchPower);
-    }
-
-    @DisplayName("Launcher should stop when no input it given")
-    @Test
-    void testNoLaunchPower() {
-        controls.setLaunchPower(false);
-        verify(Launcher).setPower(0.0);
-        verify(Launcher2).setPower(-0.0);
-    }
-
-    @DisplayName("Set zero power behavior to brake when true")
-    @Test
-    void testDriveBrakeActive() {
-        controls.setDriveMotorZeroPowerBehavior(true);
-        verify(leftFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(rightFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(leftBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        verify(rightBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-    }
-
-    @DisplayName("Set zero power behavior to float when false")
-    @Test
-    void testDriveBrakeInactive() {
-        controls.setDriveMotorZeroPowerBehavior(false);
-        verify(leftFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(rightFront).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(leftBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        verify(rightBack).setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-    }
-}