private void a() {
      Iterator var1 = this.hardwareMap.servoController.iterator();

      while (var1.hasNext()) {
        ServoController var2 = (ServoController) var1.next();
        var2.pwmDisable();
      }

      var1 = this.hardwareMap.dcMotorController.iterator();

      while (var1.hasNext()) {
        DcMotorController var3 = (DcMotorController) var1.next();
        var3.setMotorControllerDeviceMode(DeviceMode.WRITE_ONLY);
      }

      var1 = this.hardwareMap.dcMotor.iterator();

      while (var1.hasNext()) {
        DcMotor var4 = (DcMotor) var1.next();
        var4.setPower(0.0D);
        var4.setChannelMode(RunMode.RUN_WITHOUT_ENCODERS);
      }

      var1 = this.hardwareMap.lightSensor.iterator();

      while (var1.hasNext()) {
        LightSensor var5 = (LightSensor) var1.next();
        var5.enableLed(false);
      }
    }
  /*
   * Code to run when the op mode is first enabled goes here
   *
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
   */
  @Override
  public void init() {

    /*
     * Use the hardwareMap to get the dc motors and servos by name.
     * Note that the names of the devices must match the names used
     * when you configured your robot and created the configuration file.
     */

    /*
     * For the demo Tetrix K9 bot we assume the following,
     *   There are two motors "motor_1" and "motor_2"
     *   "motor_1" is on the right side of the bot.
     *   "motor_2" is on the left side of the bot..
     *
     * We also assume that there are two servos "servo_1" and "servo_6"
     *    "servo_1" controls the arm joint of the manipulator.
     *    "servo_6" controls the claw joint of the manipulator.
     */
    motorRight = hardwareMap.dcMotor.get("motor_2");
    motorLeft = hardwareMap.dcMotor.get("motor_1");
    motorLeft.setDirection(DcMotor.Direction.REVERSE);

    arm = hardwareMap.servo.get("servo_1");
    claw = hardwareMap.servo.get("servo_6");

    // set the starting position of the wrist and claw
    armPosition = 0.4;
    clawPosition = 0.25;

    /*
     * We also assume that we have a LEGO light sensor
     * with a name of "light_sensor" configured for our robot.
     */
    reflectedLight = hardwareMap.lightSensor.get("light_sensor");

    // turn on LED of light sensor.
    reflectedLight.enableLed(true);
  }