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made it so each cycle was its own void

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This commit is contained in:
DanTheMan-byte
2026-02-07 16:00:10 -06:00
parent 0d483f2a63
commit de9ce388c4
1 changed files with 216 additions and 200 deletions
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416
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
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@@ -782,6 +782,15 @@ public class Auto_LT_Close extends LinearOpMode {
};
}
// initialize path variables here
TrajectoryActionBuilder shoot0 = null;
TrajectoryActionBuilder pickup1 = null;
TrajectoryActionBuilder shoot1 = null;
TrajectoryActionBuilder pickup2 = null;
TrajectoryActionBuilder shoot2 = null;
TrajectoryActionBuilder pickup3 = null;
TrajectoryActionBuilder shoot3 = null;
@Override
public void runOpMode() throws InterruptedException {
@@ -813,15 +822,6 @@ public class Auto_LT_Close extends LinearOpMode {
limelightUsed = false;
TrajectoryActionBuilder shoot0 = null;
TrajectoryActionBuilder pickup1 = null;
TrajectoryActionBuilder shoot1 = null;
TrajectoryActionBuilder pickup2 = null;
TrajectoryActionBuilder shoot2 = null;
TrajectoryActionBuilder pickup3 = null;
TrajectoryActionBuilder shoot3 = null;
robot.light.setPosition(1);
while (opModeInInit()) {
@@ -992,205 +992,18 @@ public class Auto_LT_Close extends LinearOpMode {
robot.transfer.setPower(1);
assert shoot0 != null;
Actions.runBlocking(
new ParallelAction(
shoot0.build(),
manageFlywheel(
shoot0Vel,
shoot0Hood,
flywheel0Time,
x1,
0.501,
shoot0XTolerance,
0.501
)
)
);
Actions.runBlocking(
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
);
startCycle();
if (ballCycles > 0){
Actions.runBlocking(
new ParallelAction(
pickup1.build(),
manageFlywheel(
shootAllVelocity,
shootAllHood,
intake1Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake1Time),
detectObelisk(
intake1Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos1
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = 22;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheel(
shootAllVelocity,
shootAllHood,
shoot1Time,
0.501,
0.501,
0.501,
0.501
),
shoot1.build(),
prepareShootAll(colorSenseTime, shoot1Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
cycleStackClose();
}
if (ballCycles > 1){
Actions.runBlocking(
new ParallelAction(
pickup2.build(),
manageShooterAuto(
intake2Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake2Time),
detectObelisk(
intake2Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos2
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = prevMotif;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
shoot2Time,
0.501,
0.501,
0.501,
0.501
),
shoot2.build(),
prepareShootAll(colorSenseTime, shoot2Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
cycleStackMiddle();
}
if (ballCycles > 2){
Actions.runBlocking(
new ParallelAction(
pickup3.build(),
manageShooterAuto(
intake3Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake3Time),
detectObelisk(
intake3Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos3
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = prevMotif;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
shoot3Time,
0.501,
0.501,
0.501,
0.501
),
shoot3.build(),
prepareShootAll(colorSenseTime, shoot3Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
finalShootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
)
);
cycleStackFar();
}
while (opModeIsActive()) {
@@ -1208,4 +1021,207 @@ public class Auto_LT_Close extends LinearOpMode {
}
}
void startCycle() {
assert shoot0 != null;
Actions.runBlocking(
new ParallelAction(
shoot0.build(),
manageFlywheel(
shoot0Vel,
shoot0Hood,
flywheel0Time,
x1,
0.501,
shoot0XTolerance,
0.501
)
)
);
Actions.runBlocking(
shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
);
}
void cycleStackClose(){
Actions.runBlocking(
new ParallelAction(
pickup1.build(),
manageFlywheel(
shootAllVelocity,
shootAllHood,
intake1Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake1Time),
detectObelisk(
intake1Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos1
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = 22;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheel(
shootAllVelocity,
shootAllHood,
shoot1Time,
0.501,
0.501,
0.501,
0.501
),
shoot1.build(),
prepareShootAll(colorSenseTime, shoot1Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
}
void cycleStackMiddle(){
Actions.runBlocking(
new ParallelAction(
pickup2.build(),
manageShooterAuto(
intake2Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake2Time),
detectObelisk(
intake2Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos2
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = prevMotif;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
shoot2Time,
0.501,
0.501,
0.501,
0.501
),
shoot2.build(),
prepareShootAll(colorSenseTime, shoot2Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
shootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(shootAllTime, spindexerSpeedIncrease)
)
);
}
void cycleStackFar(){
Actions.runBlocking(
new ParallelAction(
pickup3.build(),
manageShooterAuto(
intake3Time,
x2b,
y2b,
pickup1XTolerance,
pickup1YTolerance
),
intake(intake3Time),
detectObelisk(
intake3Time,
0.501,
0.501,
obelisk1XTolerance,
obelisk1YTolerance,
obeliskTurrPos3
)
)
);
motif = turret.getObeliskID();
if (motif == 0) motif = prevMotif;
prevMotif = motif;
Actions.runBlocking(
new ParallelAction(
manageFlywheelAuto(
shoot3Time,
0.501,
0.501,
0.501,
0.501
),
shoot3.build(),
prepareShootAll(colorSenseTime, shoot3Time, motif)
)
);
Actions.runBlocking(
new ParallelAction(
manageShooterAuto(
finalShootAllTime,
0.501,
0.501,
0.501,
0.501
),
shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
)
);
}
}