Refactor utils classes and improve motor setup

.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" />

.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" />

.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" />

.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" />

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())"

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/DriveControls.java

@@ -55,23 +55,35 @@ 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);
         motors.leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         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);
         motors.leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
         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();

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);
     }

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