# L090

1 file(s) copied, then 2 change(s) in 1 file(s), 28 line(s) of code to write.

## Copies

- `lessons/L090MecanumOpMode.java` to `mytry/L090MecanumOpMode.java`

## L090MecanumOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L090MecanumOpMode.java`

### A change

Delete 0 lines, write 3 lines.

```diff
--- before this change
+++ after it
@@ -86,6 +86,9 @@
         // When on L090S030, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l090.html#l090s030
         // for what to do here.
+        double strafe = deadband(-leftStickX, band);
+        strafe = signedSquared(strafe);
+        Tracker.publish("arcade/strafe", strafe);
 
         // When on L090S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l090.html#l090s040
```

### A change

Delete 0 lines, write 25 lines.

```diff
--- before this change
+++ after it
@@ -93,6 +93,31 @@
         // When on L090S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l090.html#l090s040
         // for what to do here.
+        double frontLeftPower = forward - strafe - turn;
+        double frontRightPower = forward + strafe + turn;
+        double backLeftPower = forward + strafe - turn;
+        double backRightPower = forward - strafe + turn;
+        double frontLeftSize = Math.abs(frontLeftPower);
+        double frontRightSize = Math.abs(frontRightPower);
+        double backLeftSize = Math.abs(backLeftPower);
+        double backRightSize = Math.abs(backRightPower);
+        double biggest = Math.max(frontLeftSize, frontRightSize);
+        biggest = Math.max(biggest, backLeftSize);
+        biggest = Math.max(biggest, backRightSize);
+        biggest = Math.max(1.0, biggest);
+        frontLeftPower = frontLeftPower / biggest;
+        frontRightPower = frontRightPower / biggest;
+        backLeftPower = backLeftPower / biggest;
+        backRightPower = backRightPower / biggest;
+        Tracker.publish("power/frontLeft", frontLeftPower);
+        Tracker.publish("power/frontRight", frontRightPower);
+        Tracker.publish("power/backLeft", backLeftPower);
+        Tracker.publish("power/backRight", backRightPower);
+
+        hardware.frontLeft.setPower(frontLeftPower);
+        hardware.frontRight.setPower(frontRightPower);
+        hardware.backLeft.setPower(backLeftPower);
+        hardware.backRight.setPower(backRightPower);
 
         boolean buttonA = gamepad1.a;
         Tracker.publish("button/a", buttonA);
```