創建兩個檔案(TeleOpMode.java, TeleOp_Base.java)

先在Base中設定馬達，並實作scaling function

public abstract class TeleOp_Base extends LinearOpMode {
    public DcMotorEx FR, FL, BR, BL;
    public void init_hardware() {
        FR = hardwareMap.get(DcMotorEx.class, "FR");
        FL = hardwareMap.get(DcMotorEx.class, "FL");
        BR = hardwareMap.get(DcMotorEx.class, "BR");
        BL = hardwareMap.get(DcMotorEx.class, "BL");
        FR.setDirection(DcMotorSimple.Direction.REVERSE);
        BR.setDirection(DcMotorSimple.Direction.REVERSE);
        FR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        FL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        BR.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        BL.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
    }
    public double scaling_power(double fr, double fl, double br, double bl) {
        double max = Math.max(Math.max(Math.abs(fr), Math.abs(fl)), Math.max(Math.abs(br), Math.abs(bl)));
        if(max <= 1) {
           max = 1;
        }
        return max;
    }
}

TeleOpMode

public class TeleOpMode extends TeleOp_Base {
    double drive, turn, strafe;
    double fr, fl, br, bl, scale;
    @Override
    public void runOpMode() throws InterruptedException {
        init_hardware();
        waitForStart();
        while(opModeIsActive()) {
            drive = -gamepad1.left_stick_y;     //前進
            turn = gamepad1.right_stick_x;      //自旋
            strafe = gamepad1.left_stick_x;    //平移
            
            
            fr = forward - rotate - strafe;
		        fl = forward + rotate + strafe;
		        br = forward - rotate + strafe;
		        bl = forward + rotate - strafe;

		        scale = scaling_power(fr, fl, br, bl);

		        FR.setPower(fr/scale);
		        FL.setPower(fl/scale);
		        BR.setPower(br/scale);
		        BL.setPower(bl/scale);
        }
    }
}