# L080

1 file(s) copied, then 2 change(s) in 1 file(s), 22 line(s) of code to write.

## Copies

- `lessons/L080ArcadeOpMode.java` to `mytry/L080ArcadeOpMode.java`

## L080ArcadeOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L080ArcadeOpMode.java`

### A change

Delete 0 lines, write 7 lines.

```diff
--- before this change
+++ after it
@@ -79,6 +79,13 @@
         // When on L080S030, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l080.html#l080s030
         // for what to do here.
+        double band = 0.05;
+        double forward = deadband(-leftStickY, band);
+        forward = signedSquared(forward);
+        Tracker.publish("arcade/forward", forward);
+        double turn = deadband(-rightStickX, band);
+        turn = signedSquared(turn);
+        Tracker.publish("arcade/turn", turn);
 
         // When on L080S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l080.html#l080s040
```

### A change

Delete 0 lines, write 15 lines.

```diff
--- before this change
+++ after it
@@ -90,6 +90,21 @@
         // When on L080S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l080.html#l080s040
         // for what to do here.
+        double leftPower = forward - turn;
+        double rightPower = forward + turn;
+        double leftSize = Math.abs(leftPower);
+        double rightSize = Math.abs(rightPower);
+        double biggest = Math.max(leftSize, rightSize);
+        biggest = Math.max(1.0, biggest);
+        leftPower = leftPower / biggest;
+        rightPower = rightPower / biggest;
+        Tracker.publish("power/left", leftPower);
+        Tracker.publish("power/right", rightPower);
+
+        hardware.frontLeft.setPower(leftPower);
+        hardware.backLeft.setPower(leftPower);
+        hardware.frontRight.setPower(rightPower);
+        hardware.backRight.setPower(rightPower);
 
         boolean buttonA = gamepad1.a;
         Tracker.publish("button/a", buttonA);
```