# L160

1 file(s) copied, then 4 change(s) in 1 file(s), 5 line(s) of code to write.

## Copies

- `lessons/L160HeadingHoldOpMode.java` to `mytry/L160HeadingHoldOpMode.java`

## L160HeadingHoldOpMode

`TeamCode/src/main/java/org/firstinspires/ftc/teamcode/mytry/L160HeadingHoldOpMode.java`

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -8,6 +8,7 @@
 
 import org.firstinspires.ftc.teamcode.base.CorbelsMecanum;
 import org.firstinspires.ftc.teamcode.base.CorbelsTeleOp;
+import org.firstinspires.ftc.teamcode.base.HeadingHold;
 import org.firstinspires.ftc.teamcode.base.Tracker;
 
 /**
```

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -10,6 +10,7 @@
 import org.firstinspires.ftc.teamcode.base.CorbelsTeleOp;
 import org.firstinspires.ftc.teamcode.base.HeadingHold;
 import org.firstinspires.ftc.teamcode.base.Tracker;
+import org.firstinspires.ftc.teamcode.pedro.Constants;
 
 /**
  * L160: hold the heading the driver left. Let go of the turn stick and the
```

### A change

Delete 0 lines, write 1 line.

```diff
--- before this change
+++ after it
@@ -36,6 +36,7 @@
     boolean previousButtonA;
 
     CorbelsMecanum drivetrain;
+    HeadingHold hold = new HeadingHold(Constants.foresightConfig.headingFeedback.get());
 
     // 'public' to match the parent class. 'public' allows access from any code.
     @Override
```

### A change

Delete 0 lines, write 2 lines.

```diff
--- before this change
+++ after it
@@ -86,6 +86,8 @@
         // When on L160S040, see
         // https://msb-stitt.github.io/ftc31459-26-27-biobuzz/guide/tasks/l160.html#l160s040
         // for what to do here.
+        turn = hold.turn(follower, turn);
+        Tracker.publish("heading/holding", hold.target() != null);
 
         double strafe = deadband(-leftStickX, band);
         strafe = signedSquared(strafe);
```