SCDS/FTCRoadRunnerRobotics
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Merge remote-tracking branch 'origin/branch-rc-chassis-14493-subsystem-actions' into branch-rc-chassis-14493-subsystem-actions

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This commit is contained in:
Carlos Rivas
2024-11-06 23:16:27 -08:00
parent 00a828cfb9 bb10d3efc1
commit 90bcfbb787
2 changed files with 15 additions and 11 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
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@ -5,7 +5,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode; 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 class DevTeleop extends OpMode {
public DevTeleopRunMode runMode; public DevTeleopRunMode runMode;

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
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@ -105,10 +105,12 @@ public class DevTeleopRunMode {
*/ */
public void theLift() { public void theLift() {
if (this.currentGP1.b && !this.previousGP1.b) { if (this.currentGP1.b && !this.previousGP1.b) {
Actions.runBlocking(new SequentialAction( if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD) {
this.arm.toParkPosition, Actions.runBlocking(new SequentialAction(
this.wrist.toBucketPosition this.arm.toParkPosition,
)); this.wrist.toBucketPosition
));
}
} }
} }
@ -154,12 +156,14 @@ public class DevTeleopRunMode {
*/ */
public void theTravel(){ public void theTravel(){
if (this.currentGP2.dpad_down && !this.previousGP2.dpad_down){ if (this.currentGP2.dpad_down && !this.previousGP2.dpad_down){
fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD); if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
Actions.runBlocking(new SequentialAction( Actions.runBlocking(new SequentialAction(
lift.toFloor, lift.toFloor,
arm.toBucketPosition, arm.toBucketPosition,
wrist.toFloorPosition wrist.toFloorPosition
)); ));
fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
}
} }
} }