fixed lift movement on behavior tree

ftc16072 · Jan 27, 2024 · 8992cdb · 8992cdb
1 parent 6ab1f16
commit 8992cdb
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Showing 2 changed files with 34 additions and 6 deletions.
diff --git a/...java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java b/...java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java
@@ -0,0 +1,16 @@
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
+
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
+
+public class IfLiftAtBottom extends Node {
+    @Override
+    public State tick(QQOpMode opmode) {
+        if(opmode.robot.lift.currentPosition()<50){
+            return State.SUCCESS;
+
+
+        }
+        return State.FAILURE;
+    }
+}
diff --git a/...src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java b/...src/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Trees/TeleopTree.java
@@ -24,6 +24,7 @@
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IfEjectButtonPressed;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IfIntakeButtonPressed;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IfLeftTriggerPressed;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IfLiftAtBottom;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IfLiftToPixelGrabPosButtonPressed;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions.IsControllerDriving;
 import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
@@ -151,17 +152,28 @@ public static Node root(){
                 ),
                 new Parallel(2,
                         new Sequence(
-                                new IfLiftAtBottom(),
-                                new Has1or2Pixels(),
-
                                 new Failover(
-                                        new Sequence(
-                                                new MoveArmAndLift(),
-                                                new PlacePixels()
+                                        new IfLiftAtBottom(),
+                                        new Has1or2Pixels(),
+
+                                        new Failover(
+                                                new Sequence(
+                                                        new MoveArmAndLift(),
+                                                        new PlacePixels()
+                                                )
+
                                         )
 
+                                ),
+
+                                new Sequence(
+                                        new MoveArmAndLift(),
+                                        new PlacePixels()
                                 )
 
+
+
+
                         ),
                         new Failover(
                                 new AreSlidesExtended(),