SCDS/FTCRoadRunnerRobotics
7
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Incorporate FIELD states

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java
View File

@ -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;

6
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java
View File

@ -104,12 +104,14 @@ public class DevTeleopRunMode {
*/ */
public void theLift() { public void theLift() {
if (this.currentGP1.b && !this.previousGP1.b) { if (this.currentGP1.b && !this.previousGP1.b) {
if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.FIELD) {
Actions.runBlocking(new SequentialAction( Actions.runBlocking(new SequentialAction(
this.arm.toParkPosition, this.arm.toParkPosition,
this.wrist.toBucketPosition this.wrist.toBucketPosition
)); ));
} }
} }
}
/* /*
Controller: 2 Controller: 2
@ -153,12 +155,14 @@ 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);
}
} }
} }