SCDS/FTCRoadRunnerRobotics
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Incorporate FIELD states

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This commit is contained in:
Carlos Rivas
2024-11-06 20:38:51 -08:00
parent 5b3c92c82c
commit bb10d3efc1
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;
@TeleOp(name = "Dev Teleop", group = "Debug")
@TeleOp(name = "Dev Teleop Actions", group = "Debug")
public class DevTeleop extends OpMode {
public DevTeleopRunMode runMode;

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
View File

@ -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);
}
}
}