made it so each cycle was its own void

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java

@@ -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()) {
@@ -992,6 +992,37 @@ public class Auto_LT_Close extends LinearOpMode {
 
             robot.transfer.setPower(1);
 
+            startCycle();
+
+            if (ballCycles > 0){
+                cycleStackClose();
+            }
+
+            if (ballCycles > 1){
+                cycleStackMiddle();
+            }
+
+            if (ballCycles > 2){
+                cycleStackFar();
+            }
+
+            while (opModeIsActive()) {
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                flywheel.manageFlywheel(0);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void startCycle() {
         assert shoot0 != null;
 
         Actions.runBlocking(
@@ -1013,8 +1044,9 @@ public class Auto_LT_Close extends LinearOpMode {
         Actions.runBlocking(
                 shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
         );
+    }
 
-            if (ballCycles > 0){
+    void cycleStackClose(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup1.build(),
@@ -1077,7 +1109,7 @@ public class Auto_LT_Close extends LinearOpMode {
         );
     }
 
-            if (ballCycles > 1){
+    void cycleStackMiddle(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup2.build(),
@@ -1135,7 +1167,7 @@ public class Auto_LT_Close extends LinearOpMode {
         );
     }
 
-            if (ballCycles > 2){
+    void cycleStackFar(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup3.build(),
@@ -1192,20 +1224,4 @@ public class Auto_LT_Close extends LinearOpMode {
 
         );
     }
-
-            while (opModeIsActive()) {
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                flywheel.manageFlywheel(0);
-
-                TELE.addLine("finished");
-                TELE.update();
-            }
-
-        }
-
-    }
 }