KeshavAnandCode/FTCDecodeMain
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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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72
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()) {
@@ -992,6 +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();
}
}
}
}