From bb10d3efc1abdcda818859ca7ee830a17506d45c Mon Sep 17 00:00:00 2001
From: Carlos Rivas <carlos@riv.as>
Date: Wed, 6 Nov 2024 20:38:51 -0800
Subject: [PATCH] Incorporate FIELD states

---
 .../firstinspires/ftc/teamcode/DevTeleop.java |  2 +-
 .../teamcode/runmodes/DevTeleopRunMode.java   | 24 +++++++++++--------
 2 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
index 78aba15..a868ec6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
@@ -5,7 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode;
 
-@TeleOp(name = "Dev Teleop", group = "Debug")
+@TeleOp(name = "Dev Teleop Actions", group = "Debug")
 public class DevTeleop extends OpMode {
 
     public DevTeleopRunMode runMode;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
index cde8fe3..961f641 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
@@ -104,10 +104,12 @@ public class DevTeleopRunMode {
      */
     public void theLift() {
         if (this.currentGP1.b && !this.previousGP1.b) {
-            Actions.runBlocking(new SequentialAction(
-                    this.arm.toParkPosition,
-                    this.wrist.toBucketPosition
-            ));
+            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD) {
+                Actions.runBlocking(new SequentialAction(
+                        this.arm.toParkPosition,
+                        this.wrist.toBucketPosition
+                ));
+            }
         }
     }
 
@@ -153,12 +155,14 @@ public class DevTeleopRunMode {
      */
     public void theTravel(){
         if (this.currentGP2.dpad_down && !this.previousGP2.dpad_down){
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
-            Actions.runBlocking(new SequentialAction(
-                    lift.toFloor,
-                    arm.toBucketPosition,
-                    wrist.toFloorPosition
-            ));
+            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
+                Actions.runBlocking(new SequentialAction(
+                        lift.toFloor,
+                        arm.toBucketPosition,
+                        wrist.toFloorPosition
+                ));
+                fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
+            }
         }
     }