From 5cf9a4040244d64c544bb01e900cfda3d96e6c6b Mon Sep 17 00:00:00 2001
From: Titan Robotics Club <trc492@users.noreply.github.com>
Date: Sat, 24 Aug 2024 23:27:49 -0700
Subject: [PATCH] Added Robot.cancelAll() and remapped some buttons similar to
 FRC.

---
 .../src/main/java/teamcode/FtcTeleOp.java     | 23 ++++++-------------
 TeamCode/src/main/java/teamcode/Robot.java    | 14 +++++++++++
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/TeamCode/src/main/java/teamcode/FtcTeleOp.java b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
index 5281e48..b43fff6 100644
--- a/TeamCode/src/main/java/teamcode/FtcTeleOp.java
+++ b/TeamCode/src/main/java/teamcode/FtcTeleOp.java
@@ -249,22 +249,6 @@ public class FtcTeleOp extends FtcOpMode
         switch (button)
         {
             case A:
-            case B:
-                break;
-
-            case X:
-                if (pressed)
-                {
-                    robot.globalTracer.traceInfo(moduleName, ">>>>> CancelAll is pressed.");
-                    if (robot.robotDrive != null)
-                    {
-                        // Cancel all auto-assist driving.
-                        robot.robotDrive.cancel();
-                    }
-                }
-                break;
-
-            case Y:
                 // Toggle between field or robot oriented driving, only applicable for holonomic drive base.
                 if (driverAltFunc)
                 {
@@ -302,6 +286,11 @@ public class FtcTeleOp extends FtcOpMode
                 }
                 break;
 
+            case B:
+            case X:
+            case Y:
+                break;
+
             case LeftBumper:
                 robot.globalTracer.traceInfo(moduleName, ">>>>> DriverAltFunc=" + pressed);
                 driverAltFunc = pressed;
@@ -333,6 +322,7 @@ public class FtcTeleOp extends FtcOpMode
                 if (pressed)
                 {
                     robot.globalTracer.traceInfo(moduleName, ">>>>> ZeroCalibrate pressed.");
+                    robot.cancelAll();
                     robot.zeroCalibrate();
                     if (robot.robotDrive != null && robot.robotDrive instanceof FtcSwerveDrive)
                     {
@@ -404,6 +394,7 @@ public class FtcTeleOp extends FtcOpMode
                 {
                     // Zero calibrate all subsystems (arm, elevator and turret).
                     robot.globalTracer.traceInfo(moduleName, ">>>>> ZeroCalibrate pressed.");
+                    robot.cancelAll();
                     robot.zeroCalibrate(moduleName);
                 }
                 break;
diff --git a/TeamCode/src/main/java/teamcode/Robot.java b/TeamCode/src/main/java/teamcode/Robot.java
index b19c07e..6f0b731 100644
--- a/TeamCode/src/main/java/teamcode/Robot.java
+++ b/TeamCode/src/main/java/teamcode/Robot.java
@@ -272,6 +272,20 @@ public class Robot
         }
     }   //updateStatus
 
+    /**
+     * This method is called to cancel all pending operations and release the ownership of all subsystems.
+     */
+    public void cancelAll()
+    {
+        globalTracer.traceInfo(moduleName, "Cancel all operations.");
+
+        if (robotDrive != null)
+        {
+            // Cancel all auto-assist driving.
+            robotDrive.cancel();
+        }
+    }   //cancelAll
+
     /**
      * This method zero calibrates all subsystems.
      *