BaseRobot.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.shprobotics.pestocore.devices.GamepadInterface;
import com.shprobotics.pestocore.drivebases.controllers.MecanumController;
import com.shprobotics.pestocore.drivebases.controllers.TeleOpController;
import com.shprobotics.pestocore.drivebases.trackers.DeterministicTracker;
import com.shprobotics.pestocore.processing.FrontalLobe;

import org.firstinspires.ftc.teamcode.PestoFTCConfig;

@Disabled
public class BaseRobot extends LinearOpMode {
    public MecanumController mecanumController;
    public DeterministicTracker tracker;
    public TeleOpController teleOpController;
    public GamepadInterface gamepadInterface1;

    @Override
    public void runOpMode() {
        FrontalLobe.initialize(hardwareMap);
        mecanumController = (MecanumController) FrontalLobe.driveController;
        if (PestoFTCConfig.initializePinpoint) {
            tracker = FrontalLobe.tracker;
            tracker.reset();
            teleOpController = FrontalLobe.teleOpController;
        }
        gamepadInterface1 = new GamepadInterface(gamepad1);
    }
}