From 94144780b8e1cb194fcb6b260872b9e85963dece Mon Sep 17 00:00:00 2001
From: Carlos <carlos@riv.as>
Date: Wed, 13 Nov 2024 09:13:24 -0800
Subject: [PATCH] Tentative fix for robot/runBlocking problem as per issue #2

---
 .../cometbots/CometBotAutoDevelopment.java    | 25 +++++++++++++------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
index ddfaabe..9ffee06 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java
@@ -38,7 +38,6 @@ public class CometBotAutoDevelopment {
 
     private Follower follower;
     private HardwareMap hardwareMap;
-    private double currentPower = MAX_POWER;
 
     public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
         this.motors = new MotorsSubsystem(hardwareMap, telemetry);
@@ -98,25 +97,35 @@ public class CometBotAutoDevelopment {
         this.previousGP2.copy(currentGP2);
         this.currentGP2.copy(this.GP2);
 
-        this.toFixMotorBlockingIssuer();
+        this.toFixMotorBlockingIssueFirstMethod();
+        this.toFixMotorBlockingIssueSecondMethod();
 
         follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, false);
         follower.update();
         this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-        this.telemetry.addData("Current Power", currentPower);
     }
 
-    public void toFixMotorBlockingIssuer() {
+    public void toFixMotorBlockingIssueFirstMethod() {
         if (this.currentGP1.cross && !this.previousGP1.cross) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
-                    new SleepAction(2.5),
                     this.zeroOutPower(),
-                    new SleepAction(2.5),
-                    this.returnToMaxPower(),
-                    new SleepAction(2.5)
+                    new SleepAction(3),
+                    this.returnToMaxPower()
             ));
             fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
         }
     }
+
+    public void toFixMotorBlockingIssueSecondMethod() {
+        if (this.currentGP1.circle && !this.previousGP1.circle) {
+            this.follower.breakFollowing();
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+            Actions.runBlocking(new SequentialAction(
+                    new SleepAction(3)
+            ));
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+            this.follower.startTeleopDrive();
+        }
+    }
 }