Working platform for RC 14493 robot

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java

@@ -4,15 +4,16 @@ import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode;
+import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
 
-@TeleOp(name = "Dev Teleop Actions", group = "Debug")
+@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
 public class DevTeleop extends OpMode {
 
-    public DevTeleopRunMode runMode;
+    public DevTeleopRunModeCompetition runMode;
 
     @Override
     public void init() {
-        this.runMode = new DevTeleopRunMode(hardwareMap, telemetry, gamepad1, gamepad2);
+        this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
         this.runMode.init();
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-public class BluenbAutov1 {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherOrientBlue.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AsherOrientBlue", group = "Autonomous Pathing Tuning")
 public class AsherOrientBlue extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherPathBlueV1.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AsherPathBlueV1", group = "Autonomous Pathing Tuning")
 public class AsherPathBlueV1 extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AsherPathV1.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -13,7 +14,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
+import com.acmerobotics.roadrunner.SleepAction;
 /**
  * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
  * a circle, but some Bezier curves that have control points set essentially in a square. However,
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
 public class AsherPathV1 extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExample.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
 public class AutoExample extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleFour.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
 public class AutoExampleFour extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleSeason2025V1.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
 public class AutoExampleSeason2025V1 extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleThree.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
 public class AutoExampleThree extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/AutoExampleTwo.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -25,6 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
 public class AutoExampleTwo extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BasicOmniOpMode_Linear.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
@@ -44,6 +44,7 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTI
 import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -81,6 +82,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
  */
 
 @TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
+@Disabled
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BlueBasketAuto.java

@@ -1,5 +1,6 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -27,6 +28,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
 public class BlueBasketAuto extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/poc/BluebAutoV1.java

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
 public class BluebAutoV1 extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftRawTest.java

@@ -1,124 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-@TeleOp(name = "Lift Raw Test", group = "Debug")
-public class LiftRawTest extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    private final int MIN_POINT = 0;
-    private final int MAX_POINT = 3700;
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Lift
-         */
-        DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
-        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        waitForStart();
-        runtime.reset();
-
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            liftDrive.setPower(.5);
-
-            // Max position is 6800, safely setting to 6500
-
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                liftDrive.setTargetPosition(MIN_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                liftDrive.setTargetPosition(1500);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                liftDrive.setTargetPosition(2750);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                liftDrive.setTargetPosition(MAX_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() - 125;
-                if (newPosition < MIN_POINT) {
-                    liftDrive.setTargetPosition(MIN_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() + 125;
-                if (newPosition > MAX_POINT) {
-                    liftDrive.setTargetPosition(MAX_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Lift Drive Position", liftDrive.getCurrentPosition());
-            telemetry.update();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftTest.java

@@ -29,32 +29,26 @@
 
 package org.firstinspires.ftc.teamcode.cometbots.tests;
 
+import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
 
 @TeleOp(name = "Lift Test", group = "Debug")
 public class LiftTest extends LinearOpMode {
 
-    // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
 
-    private final int MIN_POINT = 0;
-    // 2000 ~ 2500
-
-    // 3750 max
-    private final int MAX_POINT = 6500;
-
     @Override
     public void runOpMode() {
 
         /*
          * Instantiate Lift
          */
-        LiftSubsystem lift = new LiftSubsystem(hardwareMap, telemetry);
+        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -74,21 +68,29 @@ public class LiftTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                lift.toFloor();
+                Actions.runBlocking(lift.toFloorPosition());
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                lift.toHighBucket();
+                Actions.runBlocking(lift.toHighBucketPosition());
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                lift.toLowBucket();
+                Actions.runBlocking(lift.toLowBucketPosition());
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {
                 lift.switchState();
             }
 
+            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
+                lift.setPosition(lift.getPosition() + 25);
+            }
+
+            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
+                lift.setPosition(lift.getPosition() - 25);
+            }
+
             // Show the elapsed game time and wheel power.
             telemetry.addData("Status", "Run Time: " + runtime.toString());
             telemetry.addData("Lift Drive Position", lift.getPosition());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/WristTest.java

@@ -29,11 +29,13 @@
 
 package org.firstinspires.ftc.teamcode.cometbots.tests;
 
+import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
+import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
 
 @TeleOp(name = "Wrist Test", group = "Debug")
@@ -48,7 +50,7 @@ public class WristTest extends LinearOpMode {
         /*
          * Instantiate Wrist
          */
-        WristSubsystem wrist = new WristSubsystem(hardwareMap, telemetry);
+        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -67,11 +69,11 @@ public class WristTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                wrist.toBucketPosition();
+                Actions.runBlocking(wrist.toBucketPosition());
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                wrist.toFloorPosition();
+                Actions.runBlocking(wrist.toFloorPosition());
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java

@@ -4,18 +4,21 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class RobotConstants {
-    public static double clawClose = 1.00;
+    public final static double clawClose = 1.00;
-    public static double clawOpen = 0.0625;
+    public final static double clawOpen = 0.05;
 
-    public static double armFloor = 0.375;
+    public final static double armFloor = 0.45;
-    public static double armPark = 0.0;
+    public final static double armSubmarine = 0.375;
-    public static double armBucket = 0.15;
+    public final static double armPark = 0.0;
+    public final static double armBucket = 0.15;
 
-    public static double wristFloor = 0.625;
+    public final static double wristFloor = 0.7;
-    public static double wristBucket = 0.215;
+    public final static double wristBucket = 0.215;
-    public static int liftToFloorPos = 20;
+
-    public static int liftToFloatPos = 150;
+    public final static int liftToFloorPos = 0;
-    public static int liftToLowBucketPos = 2250;
+    public final static int liftToFloatPos = 150;
-    public static int liftToHighBucketPos = 3850;
+    public final static int liftToSubmarinePos = 250;
-    public static double liftPower = .375;
+    public final static int liftToLowBucketPos = 2250;
+    public final static int liftToHighBucketPos = 3850;
+    public final static double liftPower = .625;
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java

@@ -66,11 +66,11 @@ public class DevTeleopRunMode {
         this.currentGP1.copy(this.GP1);
         this.previousGP2.copy(currentGP2);
         this.currentGP2.copy(this.GP2);
-        this.theDrop();
+        this.toTravelfromField();
         this.thePickup();
-        this.theTravel();
+        this.toFieldFromBucketScore();
-        this.theLowBucketScore();
+        this.toLowBucketScore();
-        this.theHighBucketScore();
+        this.toHighBucketScore();
         this.toHold();
         this.motors.calculateTrajectory(this.GP1);
         this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
@@ -87,15 +87,16 @@ public class DevTeleopRunMode {
     Button: A
     Action: On button press, Arm hovers the floor with wrist parallel to arm
      */
-    public void theDrop() {
+    public void toTravelfromField() {
         if (this.currentGP1.dpad_down && !this.previousGP1.dpad_down) {
-            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD &&
+            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.TRAVELING &&
                     this.lift.getPosition() < 40) {
                 Actions.runBlocking(new SequentialAction(
                         this.wrist.toFloorPosition,
                         new SleepAction(.75),
                         this.arm.toFloorPosition
                 ));
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
             }
         }
     }
@@ -118,14 +119,12 @@ public class DevTeleopRunMode {
     */
     public void toHold() {
         if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD) {
             Actions.runBlocking(new SequentialAction(
                     arm.toParkPosition,
                     wrist.toFloorPosition
             ));
         }
     }
-    }
 
     /*
     Controller: 2
@@ -133,7 +132,7 @@ public class DevTeleopRunMode {
     Action: On button press, lift to low bucket height,
             arm to bucket position, wrist to bucket position
      */
-    public void theLowBucketScore() {
+    public void toLowBucketScore() {
         if (this.currentGP1.a && !this.previousGP1.a) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
@@ -150,7 +149,7 @@ public class DevTeleopRunMode {
     Action: On button press, lift to low bucket height,
             arm to bucket position, wrist to bucket position
      */
-    public void theHighBucketScore() {
+    public void toHighBucketScore() {
         if (this.currentGP1.b && !this.previousGP1.b) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
@@ -167,15 +166,15 @@ public class DevTeleopRunMode {
     Action: On directional press, lift to floor height,
             arm to bucket position, wrist to floor position
      */
-    public void theTravel(){
+    public void toFieldFromBucketScore() {
-        if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right){
+        if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right) {
             if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
                 Actions.runBlocking(new SequentialAction(
                         lift.toFloor,
                         arm.toBucketPosition,
                         wrist.toFloorPosition
                 ));
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
+//                fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
             }
         }
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java

@@ -0,0 +1,185 @@
+package org.firstinspires.ftc.teamcode.runmodes;
+
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.SleepAction;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.states.FieldStates;
+import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
+
+public class DevTeleopRunModeCompetition {
+
+    /*
+    Subsystems
+     */
+    private MotorsSubsystem motors;
+    public ClawActionsSubsystem claw;
+    public ArmActionsSubsystem arm;
+    public WristActionsSubsystem wrist;
+    public LiftActionsSubsystem lift;
+
+    /*
+    Controllers
+     */
+    public Gamepad GP1;
+    public Gamepad GP2;
+    public Gamepad currentGP1;
+    public Gamepad previousGP1;
+    public Gamepad currentGP2;
+    public Gamepad previousGP2;
+    private Telemetry telemetry;
+    public FieldStates fieldStates;
+
+    private Follower follower;
+
+    public DevTeleopRunModeCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
+        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
+        this.claw = new ClawActionsSubsystem(hardwareMap);
+        this.arm = new ArmActionsSubsystem(hardwareMap);
+        this.wrist = new WristActionsSubsystem(hardwareMap);
+        this.lift = new LiftActionsSubsystem(hardwareMap);
+        this.GP1 = gp1;
+        this.GP2 = gp2;
+        this.telemetry = telemetry;
+        this.currentGP1 = new Gamepad();
+        this.currentGP2 = new Gamepad();
+        this.previousGP1 = new Gamepad();
+        this.previousGP2 = new Gamepad();
+        this.fieldStates = new FieldStates();
+        this.follower = new Follower(hardwareMap);
+    }
+
+    public void init() {
+        this.motors.init();
+        this.claw.init();
+        this.arm.init();
+        this.wrist.init();
+        this.lift.init();
+        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        follower.setMaxPower(.75);
+        follower.startTeleopDrive();
+    }
+
+    public void update() {
+        this.previousGP1.copy(currentGP1);
+        this.currentGP1.copy(this.GP1);
+        this.previousGP2.copy(currentGP2);
+        this.currentGP2.copy(this.GP2);
+
+        this.toHighBucketScore();
+        this.toLowBucketScore();
+        this.toArmParkPosition();
+        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
+        this.clawControl();
+
+//        this.motors.calculateTrajectory(this.GP1);
+        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
+        follower.update();
+        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
+        this.telemetry.addData("Claw State", this.claw.getState());
+        this.telemetry.addData("Claw Position", this.claw.getPosition());
+        this.telemetry.addData("Wrist State", this.wrist.getState());
+        this.telemetry.addData("Arm State", this.arm.getState());
+        this.telemetry.addData("Lift State", this.lift.getState());
+        this.telemetry.addData("Lift Position", this.lift.getPosition());
+    }
+
+    /*
+    Controller: 1
+    Button: A
+    Action: On button press, Arm hovers the floor with wrist parallel to arm
+     */
+    public void toHighBucketScore() {
+        if (this.currentGP1.triangle && !this.previousGP1.triangle) {
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+            Actions.runBlocking(new SequentialAction(
+                    this.wrist.toFloorPosition(),
+                    this.arm.toParkPosition(),
+                    this.lift.toHighBucketPosition(),
+                    new SleepAction(.5),
+                    this.arm.toBucketPosition(),
+                    new SleepAction(.5),
+                    this.wrist.toBucketPosition(),
+                    new SleepAction(.5),
+                    this.claw.openClaw(),
+                    new SleepAction(.5),
+                    this.wrist.toFloorPosition(),
+                    new SleepAction(.5),
+                    this.arm.toParkPosition(),
+                    this.lift.toFloorPosition()
+            ));
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        }
+    }
+
+    public void toLowBucketScore() {
+        if (this.currentGP1.circle && !this.previousGP1.circle) {
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+            Actions.runBlocking(new SequentialAction(
+                    this.wrist.toFloorPosition(),
+                    this.arm.toParkPosition(),
+                    this.lift.toLowBucketPosition(),
+                    new SleepAction(.5),
+                    this.arm.toBucketPosition(),
+                    new SleepAction(.5),
+                    this.wrist.toBucketPosition(),
+                    new SleepAction(.5),
+                    this.claw.openClaw(),
+                    new SleepAction(.5),
+                    this.wrist.toFloorPosition(),
+                    new SleepAction(.5),
+                    this.arm.toParkPosition(),
+                    this.lift.toFloorPosition()
+            ));
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        }
+    }
+
+    public void clawControl() {
+        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
+            this.claw.switchState();
+        }
+    }
+
+    public void toArmParkPosition() {
+        if (this.currentGP1.square && !this.previousGP1.square) {
+            Actions.runBlocking(this.arm.toParkPosition());
+        }
+    }
+
+    public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
+        if (this.currentGP1.cross && !previousGP1.cross) {
+            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
+                Actions.runBlocking(
+                        new SequentialAction(
+                                this.arm.toSubmarinePosition(),
+                                this.wrist.toFloorPosition()
+                        )
+                );
+            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
+                Actions.runBlocking(
+                        new SequentialAction(
+                                this.arm.toFloorPosition(),
+                                this.wrist.toFloorPosition()
+                        )
+                );
+            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
+                Actions.runBlocking(
+                        new SequentialAction(
+                                this.arm.toSubmarinePosition(),
+                                this.wrist.toFloorPosition()
+                        )
+                );
+            }
+        }
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/states/FieldStates.java

@@ -3,7 +3,7 @@ package org.firstinspires.ftc.teamcode.states;
 public class FieldStates {
 
     public enum FieldLocation {
-        BUCKET, SUBMARINE, FIELD
+        BUCKET, SUBMARINE, FLOATING, TRAVELING
     }
 
     private FieldLocation fieldLocation;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ArmActionsSubsystem.java

@@ -0,0 +1,88 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armSubmarine;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.ServoImplEx;
+
+public class ArmActionsSubsystem {
+
+    public enum ArmState {
+        PARK, FLOOR, BUCKET, SUBMARINE
+    }
+
+    private ServoImplEx arm;
+    private ArmState state;
+
+    public ArmActionsSubsystem(HardwareMap hardwareMap) {
+        this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
+    }
+
+    public class MoveToPosition implements Action {
+        private double positionValue;
+        private ArmState positionState;
+
+        public MoveToPosition(double positionValue, ArmState positionState) {
+            this.positionValue = positionValue;
+            this.positionState = positionState;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            arm.setPosition(positionValue);
+            setState(positionState);
+            telemetryPacket.put("Arm State", positionState);
+            return false;
+        }
+    }
+
+    public Action toParkPosition() {
+        return new MoveToPosition(armPark, ArmState.PARK);
+    }
+
+    public Action toSubmarinePosition() {
+        return new MoveToPosition(armSubmarine, ArmState.SUBMARINE);
+    }
+
+    public Action toFloorPosition() {
+        return new MoveToPosition(armFloor, ArmState.FLOOR);
+    }
+
+    public Action toBucketPosition() {
+        return new MoveToPosition(armBucket, ArmState.BUCKET);
+    }
+
+    public void setState(ArmState armState) {
+        this.state = armState;
+    }
+
+    public ArmState getState() {
+        return this.state;
+    }
+
+    public void init() {
+        this.arm.resetDeviceConfigurationForOpMode();
+        Actions.runBlocking(this.toParkPosition());
+    }
+
+    public void start() {
+        Actions.runBlocking(this.toParkPosition());
+    }
+
+    public double getPosition() {
+        return this.arm.getPosition();
+    }
+
+    public void setPosition(double position) {
+        this.arm.setPosition(position);
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/ClawActionsSubsystem.java

@@ -0,0 +1,81 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.Servo;
+
+public class ClawActionsSubsystem {
+
+    public enum ClawState {
+        CLOSED, OPEN
+    }
+
+    private Servo claw;
+    private ClawState state;
+
+    public ClawActionsSubsystem(HardwareMap hardwareMap) {
+        this.claw = hardwareMap.get(Servo.class, "claw-servo");
+    }
+
+    public class MoveToPosition implements Action {
+        private double positionValue;
+        private ClawState positionState;
+
+        public MoveToPosition(double positionValue, ClawState positionState) {
+            this.positionValue = positionValue;
+            this.positionState = positionState;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            setState(positionState);
+            claw.setPosition(positionValue);
+            telemetryPacket.put("Arm State", positionState);
+            return false;
+        }
+    }
+
+    public Action openClaw() {
+        return new MoveToPosition(clawOpen, ClawState.OPEN);
+    }
+
+    public Action closeClaw() {
+        return new MoveToPosition(clawClose, ClawState.CLOSED);
+    }
+
+    public void setState(ClawState clawState) {
+        this.state = clawState;
+    }
+
+    public ClawState getState() {
+        return this.state;
+    }
+
+    public void switchState() {
+        if (state == ClawState.CLOSED) {
+            Actions.runBlocking(openClaw());
+        } else if (state == ClawState.OPEN) {
+            Actions.runBlocking(closeClaw());
+        }
+    }
+
+    public void init() {
+        Actions.runBlocking(closeClaw());
+    }
+
+    public void start() {
+        Actions.runBlocking(closeClaw());
+    }
+
+    public double getPosition() {
+        return this.claw.getPosition();
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftActionsSubsystem.java

@@ -0,0 +1,102 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class LiftActionsSubsystem {
+
+    public DcMotor lift;
+
+    public enum LiftState {
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE
+    }
+
+    private LiftState liftState;
+
+    public LiftActionsSubsystem(HardwareMap hardwareMap) {
+        lift = hardwareMap.get(DcMotor.class, "lift-motor");
+    }
+
+    public class MoveToPosition implements Action {
+        private int positionValue;
+        private LiftState positionState;
+
+        public MoveToPosition(int positionValue, LiftState positionState) {
+            this.positionValue = positionValue;
+            this.positionState = positionState;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            setState(positionState);
+            lift.setTargetPosition(positionValue);
+            lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            telemetryPacket.put("Lift State", positionState);
+            telemetryPacket.put("Lift Position", lift.getCurrentPosition());
+            boolean result = lift.getTargetPosition() - 15 < lift.getCurrentPosition() &&
+                    lift.getCurrentPosition() < lift.getTargetPosition() + 15;
+            return !result;
+        }
+    }
+
+    public Action toFloorPosition() {
+        return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
+    }
+
+    public Action toLowBucketPosition() {
+        return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
+    }
+
+    public Action toHighBucketPosition() {
+        return new MoveToPosition(liftToHighBucketPos, LiftState.HIGH_BUCKET);
+    }
+
+    public void switchState() {
+        if (this.liftState == LiftState.FLOOR) {
+            Actions.runBlocking(toLowBucketPosition());
+        } else if (this.liftState == LiftState.LOW_BUCKET) {
+            Actions.runBlocking(toHighBucketPosition());
+        } else if (this.liftState == LiftState.HIGH_BUCKET) {
+            Actions.runBlocking(toFloorPosition());
+        }
+    }
+
+    public void init() {
+        lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        lift.setDirection(DcMotorSimple.Direction.REVERSE);
+        lift.setPower(liftPower);
+    }
+
+    private void setState(LiftState liftState) {
+        this.liftState = liftState;
+    }
+
+    public LiftState getState() {
+        return this.liftState;
+    }
+
+    public int getPosition() {
+        return lift.getCurrentPosition();
+    }
+
+    public void setPosition(int position) {
+        lift.setTargetPosition(position);
+        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+    }
+
+    public void start() {
+        Actions.runBlocking(toFloorPosition());
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/LiftSubsystem.java

@@ -1,7 +1,7 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToSubmarinePos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
@@ -59,7 +59,7 @@ public class LiftSubsystem {
 
     public void toFloat() {
         this.setState(LiftState.FLOAT);
-        this.setTarget(liftToFloatPos);
+        this.setTarget(liftToSubmarinePos);
     }
 
     public void toLowBucket() {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/WristActionsSubsystem.java

@@ -0,0 +1,86 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.ServoImplEx;
+
+public class WristActionsSubsystem {
+
+    public enum WristState {
+        FLOOR, BUCKET
+    }
+
+    public ServoImplEx wrist;
+    public WristState state;
+
+    public WristActionsSubsystem(HardwareMap hardwareMap) {
+        this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
+    }
+
+    public class MoveToPosition implements Action {
+        private double positionValue;
+        private WristState positionState;
+
+        public MoveToPosition(double positionValue, WristState positionState) {
+            this.positionValue = positionValue;
+            this.positionState = positionState;
+        }
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            setState(positionState);
+            wrist.setPosition(positionValue);
+            telemetryPacket.put("Wrist State", positionState);
+            return false;
+        }
+    }
+
+    public Action toFloorPosition() {
+        return new MoveToPosition(wristFloor, WristState.FLOOR);
+    }
+
+    public Action toBucketPosition() {
+        return new MoveToPosition(wristBucket, WristState.BUCKET);
+    }
+
+    public void setState(WristState wristState) {
+        this.state = wristState;
+    }
+
+    public void switchState() {
+        if (state == WristState.FLOOR) {
+            Actions.runBlocking(this.toBucketPosition());
+        } else if (state == WristState.BUCKET) {
+            Actions.runBlocking(this.toFloorPosition());
+        }
+    }
+
+    public WristState getState() {
+        return this.state;
+    }
+
+    public void init() {
+        wrist.resetDeviceConfigurationForOpMode();
+        Actions.runBlocking(this.toFloorPosition());
+    }
+
+    public void start() {
+        Actions.runBlocking(this.toFloorPosition());
+    }
+
+    public void setPosition(double position) {
+        wrist.setPosition(position);
+    }
+
+    public double getPosition() {
+        return wrist.getPosition();
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java

@@ -2,31 +2,30 @@ package org.firstinspires.ftc.teamcode.util.action;
 
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 
-import java.util.Timer;
-import java.util.TimerTask;
-
 public class SleepAction implements Action {
-    private final double dt;
+    private double dt;
-    private boolean isFinished = false;
+    private double beginTs = -1.0;
 
     public SleepAction(double dt) {
         this.dt = dt;
     }
 
+    public static double now() {
+        return System.nanoTime() * 1e-9;
+    }
+
     @Override
     public boolean run(TelemetryPacket p) {
-        if (!isFinished) {
+        double t;
-            Timer timer = new Timer();
+        if (beginTs < 0) {
-            timer.schedule(new TimerTask() {
+            beginTs = now();
-                @Override
+            t = 0.0;
-                public void run() {
-                    isFinished = true;
-                }
-            }, (long) (dt * 1000));
         } else {
-            isFinished = false; // Reset the flag after sleep is complete
+            t = now() - beginTs;
-            return false; // Indicate that the action is finished
         }
-        return true; // Indicate that the action is still running
+        boolean output = t < dt;
+        System.out.println(t + ":" + now() + ":" + beginTs + ":" + output);
+
+        return t < dt;
     }
 }

build.dependencies.gradle

@@ -16,6 +16,9 @@ dependencies {
     implementation 'org.firstinspires.ftc:Vision:10.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
-}
+    implementation "com.acmerobotics.roadrunner:core:1.0.0"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
 
+}