# L060

1 file(s) copied, then 5 change(s) in 1 file(s), 22 line(s) of code to write.

## Copies

- `lessons/L060ShapingOpMode.java` to `mytry/L060ShapingOpMode.java`

## L060ShapingOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L060ShapingOpMode.java`

### A change

Delete 0 lines, write 7 lines.

```diff
--- before this change
+++ after it
@@ -75,6 +75,13 @@
         // When on L060S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l060.html#l060s040
         // for what to do here.
+        double band = 0.05;
+        double leftPower = deadband(leftSpeed, band);
+        leftPower = signedSquared(leftPower);
+        Tracker.publish("power/left", leftPower);
+        double rightPower = deadband(rightSpeed, band);
+        rightPower = signedSquared(rightPower);
+        Tracker.publish("power/right", rightPower);
 
         hardware.frontLeft.setPower(leftSpeed);
         hardware.backLeft.setPower(leftSpeed);
```

### A change

Delete 2 lines, write 2 lines.

```diff
--- before this change
+++ after it
@@ -83,8 +83,8 @@
         rightPower = signedSquared(rightPower);
         Tracker.publish("power/right", rightPower);
 
-        hardware.frontLeft.setPower(leftSpeed);
-        hardware.backLeft.setPower(leftSpeed);
+        hardware.frontLeft.setPower(leftPower);
+        hardware.backLeft.setPower(leftPower);
 
         hardware.frontRight.setPower(rightSpeed);
         hardware.backRight.setPower(rightSpeed);
```

### A change

Delete 2 lines, write 2 lines.

```diff
--- before this change
+++ after it
@@ -86,8 +86,8 @@
         hardware.frontLeft.setPower(leftPower);
         hardware.backLeft.setPower(leftPower);
 
-        hardware.frontRight.setPower(rightSpeed);
-        hardware.backRight.setPower(rightSpeed);
+        hardware.frontRight.setPower(rightPower);
+        hardware.backRight.setPower(rightPower);
     }
 
     // 'public' to match the parent class. 'public' allows access from any code.
```

### A change

Delete 0 lines, write 8 lines.

```diff
--- before this change
+++ after it
@@ -99,6 +99,14 @@
     // When on L060S030, see
     // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l060.html#l060s030
     // for what to do here.
+    double deadband(double value, double band) {
+        double alwaysPositiveMagnitude = Math.abs(value);
+        boolean isCloseToZero = alwaysPositiveMagnitude < band;
+        if (isCloseToZero) {
+            return 0.0;
+        }
+        return value;
+    }
 
     // When on L060S050, see
     // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l060.html#l060s050
```

### A change

Delete 0 lines, write 3 lines.

```diff
--- before this change
+++ after it
@@ -111,4 +111,7 @@
     // When on L060S050, see
     // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l060.html#l060s050
     // for what to do here.
+    double signedSquared(double value) {
+        return value * Math.abs(value);
+    }
 }
```