package com.qualcomm.ftcrobotcontroller.opmodes;

import com.lasarobotics.library.controller.Controller;
import com.lasarobotics.library.drive.Tank;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;

/**
 * Skunk (TM) Teleop
 */
public class TeleopSkunk extends OpMode {

    DcMotor leftFront, rightFront, leftBack, rightBack;
    Controller one;

    @Override
    public void init() {
        leftFront = hardwareMap.dcMotor.get("lf");
        rightFront = hardwareMap.dcMotor.get("rf");
        leftBack = hardwareMap.dcMotor.get("lb");
        rightBack = hardwareMap.dcMotor.get("rb");

        leftFront.setDirection(DcMotor.Direction.REVERSE);
        leftBack.setDirection(DcMotor.Direction.REVERSE);

        one = new Controller(gamepad1);
    }

    @Override
    public void loop() {
        one.update(gamepad1);
        telemetry.addData("Controller One Connected", one.isConnected());

        Tank.motor4(leftFront, rightFront, leftBack, rightBack, one.left_stick_y, one.right_stick_y);
    }
}

@@ -43,16 +43,72 @@
 modes;%0A%0A
+import com.lasarobotics.library.controller.ButtonState;%0A
 import c
@@ -300,16 +300,62 @@
 DcMotor;
+%0Aimport com.qualcomm.robotcore.hardware.Servo;
 %0A%0A/**%0A *
@@ -478,28 +478,131 @@
 Back
-;%0A    Controller one
+,liftA,liftB,winch,intake;%0A    Servo leftHook,rightHook;%0A    Controller one,two;%0A    boolean hooked;%0A    boolean intakeBool
 ;%0A%0A 
@@ -843,28 +843,342 @@
 (%22rb%22);%0A
-%0A        lef
+        winch = hardwareMap.dcMotor.get(%22winch%22);%0A        liftA = hardwareMap.dcMotor.get(%22liftA%22);%0A        liftB = hardwareMap.dcMotor.get(%22liftB%22);%0A        intake = hardwareMap.dcMotor.get(%22intake%22);%0A%0A        leftHook = hardwareMap.servo.get(%22leftHook%22);%0A        rightHook = hardwareMap.servo.get(%22rightHook%22);%0A%0A        righ
 tFront.s
@@ -1221,27 +1221,28 @@
 E);%0A        
-lef
+righ
 tBack.setDir
@@ -1313,24 +1313,132 @@
 (gamepad1);%0A
+        two = new Controller(gamepad2);%0A%0A        leftHook.setPosition(0);%0A        rightHook.setPosition(1);%0A
     %7D%0A%0A    @
@@ -1493,32 +1493,63 @@
 date(gamepad1);%0A
+        two.update(gamepad2);%0A%0A
         telemetr
@@ -1606,16 +1606,931 @@
 ted());%0A
+        telemetry.addData(%22Controller Two Connected%22, two.isConnected());%0A%0A        //Hooks%0A        if (one.x == ButtonState.PRESSED)%7B%0A            hooked = !hooked;%0A        %7D%0A        if (hooked)%7B%0A            leftHook.setPosition(1);%0A            rightHook.setPosition(0);%0A        %7D%0A        else %7B%0A            leftHook.setPosition(0);%0A            rightHook.setPosition(1);%0A        %7D%0A%0A        //Winch%0A        winch.setPower(two.right_stick_y);%0A%0A        //Lift%0A        liftA.setPower(two.left_stick_y);%0A        liftB.setPower(-two.left_stick_y);%0A%0A        //Intake%0A        if (two.a == ButtonState.PRESSED)%7B%0A            intakeBool = !intakeBool;%0A        %7D%0A        if (two.left_bumper == ButtonState.HELD %7C%7C two.left_bumper == ButtonState.PRESSED)%7B%0A            intake.setPower(-1);%0A        %7D%0A        else if(intakeBool) %7B%0A            intake.setPower(1);%0A        %7D%0A        else %7B%0A            intake.setPower(0);%0A        %7D%0A%0A
 %0A       

Add devices to TeleOp code