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This commit is contained in:
sihan 2024-03-09 15:07:46 -06:00
parent dbf6d85e9f
commit 277d9d55cc
1 changed files with 6 additions and 3 deletions
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9
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/AutoRed.java
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@ -67,6 +67,9 @@ public class AutoRed extends LinearOpMode {
builder.addTemporalMarker(.2, robot.getSlides()::slideFirstLayer); builder.addTemporalMarker(.2, robot.getSlides()::slideFirstLayer);
builder.addTemporalMarker(.2, robot.getWrist()::wristScore); builder.addTemporalMarker(.2, robot.getWrist()::wristScore);
this.robot.getDrive().followTrajectorySequence(builder.build()); this.robot.getDrive().followTrajectorySequence(builder.build());
while (this.robot.getDrive().isBusy()) {
robot.update();
}
} }
protected void park() { protected void park() {
@ -85,6 +88,9 @@ public class AutoRed extends LinearOpMode {
builder.addTemporalMarker(.1, robot.getWrist()::wristPickup); builder.addTemporalMarker(.1, robot.getWrist()::wristPickup);
builder.addTemporalMarker(.1, robot.getSlides()::slideDown); builder.addTemporalMarker(.1, robot.getSlides()::slideDown);
this.robot.getDrive().followTrajectorySequence(builder.build()); this.robot.getDrive().followTrajectorySequence(builder.build());
while (this.robot.getDrive().isBusy()) {
robot.update();
}
} }
protected void parkLocation(){ protected void parkLocation(){
@ -112,7 +118,6 @@ public class AutoRed extends LinearOpMode {
this.telemetry.addData("Park Position", parkLocation); this.telemetry.addData("Park Position", parkLocation);
this.telemetry.update(); this.telemetry.update();
} }
while (!isStopRequested()) {
robot.update(); robot.update();
scorePreloadOne(); scorePreloadOne();
boardScore(); boardScore();
@ -120,8 +125,6 @@ public class AutoRed extends LinearOpMode {
this.robot.getClaw().open(); this.robot.getClaw().open();
sleep(250); sleep(250);
park(); park();
stop();
}
} }
} }