From e001588a46931d1f916465b36e2374f009c969fe Mon Sep 17 00:00:00 2001
From: Carlos <carlos@riv.as>
Date: Wed, 13 Nov 2024 09:15:08 -0800
Subject: [PATCH] Tentative fix for robot/runBlocking problem as per issue #2
 added to competition code

---
 .../ftc/teamcode/cometbots/CometBotTeleopCompetition.java     | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
index 0fc4337..6613021 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotTeleopCompetition.java
@@ -107,6 +107,7 @@ public class CometBotTeleopCompetition {
     public void toHighBucketScore() {
         if (this.currentGP2.triangle && !this.previousGP2.triangle) {
             if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
+                this.follower.breakFollowing();
                 fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
                 Actions.runBlocking(new SequentialAction(
                         this.lift.toHighBucketPosition(),
@@ -123,6 +124,7 @@ public class CometBotTeleopCompetition {
                         this.lift.toFloorPosition()
                 ));
                 fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+                this.follower.startTeleopDrive();
             }
         }
     }
@@ -140,6 +142,7 @@ public class CometBotTeleopCompetition {
     public void toLowBucketScore() {
         if (this.currentGP2.circle && !this.previousGP2.circle) {
             if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
+                this.follower.breakFollowing();
                 fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
                 Actions.runBlocking(new SequentialAction(
                         this.lift.toLowBucketPosition(),
@@ -156,6 +159,7 @@ public class CometBotTeleopCompetition {
                         this.lift.toFloorPosition()
                 ));
                 fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+                this.follower.startTeleopDrive();
             }
         }
     }