Merge remote-tracking branch 'origin/nishk-1' into nishk-1

GearUp12499-org · Jan 4, 2024 · c68db03 · c68db03
2 parents aa79833 + 5e975b9
commit c68db03
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAuto.java
@@ -254,6 +254,10 @@ public void runOpMode() throws InterruptedException {
                     undoCenter.run();
                     break;
             }
+            // PUT IF STATEMENT TO BRANCH HERE
+
+            if (parkingConf() == Parking.OtherParking)
+                throw new IllegalStateException("Don't know how to handle OtherParking here");
             double modifier = parkingConf() == Parking.MoveLeft ? 1 : -1;
             turnPID.TurnRobot(modifier * 100.0, telemetry);
             forwardPID.DriveReverse(19.0, telemetry, 5.0);
@@ -292,7 +296,6 @@ public void runOpMode() throws InterruptedException {
                     .then(driveToTag.getTaskFactory())
                     .then(theXButton.approach(new InchUnit(3.5)));
 
-            // ewwwww
             scheduler.runToCompletion(this::opModeIsActive);
 //            robot.liftLeft().setTargetPosition(1000);
 
@@ -372,6 +375,7 @@ public enum StartPosition {
     public enum Parking {
         MoveLeft,
         MoveRight,
-        NoParking
+        NoParking,
+        OtherParking
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAutoBlueRight.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/TwentyAutoBlueRight.java
@@ -18,6 +18,6 @@ protected StartPosition positionConf() {
 
     @Override
     protected Parking parkingConf() {
-        return Parking.NoParking;
+        return Parking.OtherParking;
     }
 }