Add runSync to Context for symmetry with startAsync

Team766 · Mar 11, 2024 · e62c5f2 · e62c5f2
1 parent 9ab8b67
commit e62c5f2
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Showing 11 changed files with 34 additions and 26 deletions.
diff --git a/src/main/java/com/team766/framework/Context.java b/src/main/java/com/team766/framework/Context.java
@@ -403,6 +403,14 @@ public LaunchedContext startAsync(final Runnable func) {
         return new Context(func, this);
     }
 
+    /**
+     * Run the given Procedure synchronously (the calling Procedure will not resume until this one
+     * has finished).
+     */
+    public void runSync(final RunnableWithContext func) {
+        func.run(this);
+    }
+
     /**
      * Interrupt the running of this Context and force it to terminate.
      *

diff --git a/src/main/java/com/team766/robot/gatorade/OI.java b/src/main/java/com/team766/robot/gatorade/OI.java
@@ -73,9 +73,9 @@ public void run(Context context) {
                             * ControlConstants.MAX_VEL_ROT; // For steer
 
             if (leftJoystick.getButtonPressed(InputConstants.INTAKE_OUT)) {
-                new IntakeOut().run(context);
+                context.runSync(new IntakeOut());
             } else if (leftJoystick.getButtonReleased(InputConstants.INTAKE_OUT)) {
-                new IntakeStop().run(context);
+                context.runSync(new IntakeStop());
             }
 
             if (leftJoystick.getButtonPressed(InputConstants.RESET_GYRO)) {
@@ -122,11 +122,11 @@ public void run(Context context) {
 
             // first, check if the boxop is making a cone or cube selection
             if (boxopGamepad.getPOV() == InputConstants.POV_UP) {
-                new GoForCones().run(context);
+                context.runSync(new GoForCones());
                 setLightsForGamePiece();
                 SmartDashboard.putBoolean("Game Piece", true);
             } else if (boxopGamepad.getPOV() == InputConstants.POV_DOWN) {
-                new GoForCubes().run(context);
+                context.runSync(new GoForCubes());
                 setLightsForGamePiece();
                 SmartDashboard.putBoolean("Game Piece", false);
             }
@@ -151,11 +151,11 @@ public void run(Context context) {
 
             // look for button hold to start intake, release to idle intake
             if (boxopGamepad.getButtonPressed(InputConstants.BUTTON_INTAKE_IN)) {
-                new IntakeIn().run(context);
+                context.runSync(new IntakeIn());
             } else if (boxopGamepad.getButtonReleased(InputConstants.BUTTON_INTAKE_IN)) {
-                new IntakeIdle().run(context);
+                context.runSync(new IntakeIdle());
             } else if (boxopGamepad.getButton(InputConstants.BUTTON_INTAKE_STOP)) {
-                new IntakeStop().run(context);
+                context.runSync(new IntakeStop());
             }
 
             // look for button hold to extend intake/wrist/elevator superstructure,

diff --git a/src/main/java/com/team766/robot/gatorade/procedures/ExtendToHumanWithIntake.java b/src/main/java/com/team766/robot/gatorade/procedures/ExtendToHumanWithIntake.java
@@ -17,7 +17,7 @@ public void run(Context context) {
         context.takeOwnership(Robot.wrist);
         context.takeOwnership(Robot.elevator);
 
-        new IntakeIn().run(context);
-        new ExtendWristvatorToHuman(gamePieceType).run(context);
+        context.runSync(new IntakeIn());
+        context.runSync(new ExtendWristvatorToHuman(gamePieceType));
     }
 }
diff --git a/src/main/java/com/team766/robot/gatorade/procedures/GyroBalance.java b/src/main/java/com/team766/robot/gatorade/procedures/GyroBalance.java
@@ -73,7 +73,7 @@ public void run(Context context) {
         double driveSpeed = 1;
 
         // extend wristvator to put CG in a place where robot can climb ramp
-        new ExtendWristvatorToMid().run(context);
+        context.runSync(new ExtendWristvatorToMid());
 
         // Sets movement direction ground state if on ground
         setDir(curY);

diff --git a/src/main/java/com/team766/robot/gatorade/procedures/OPECHelper.java b/src/main/java/com/team766/robot/gatorade/procedures/OPECHelper.java
@@ -15,7 +15,7 @@ public void run(Context context) {
         double startY = Robot.drive.getCurrentPosition().getY();
         // robot gyro is offset 90º from how we want, so we reset it to 90º to account for this
         Robot.drive.resetGyro();
-        // new IntakeRelease().run(context);
+        // context.runSync(new IntakeRelease());
         Robot.drive.controlFieldOriented(0, -FollowPointsInputConstants.SPEED, 0);
         context.waitFor(() -> Math.abs(Robot.drive.getCurrentPosition().getY() - startY) > DIST);
         Robot.drive.stopDrive();

diff --git a/src/main/java/com/team766/robot/gatorade/procedures/OnePieceBalance.java b/src/main/java/com/team766/robot/gatorade/procedures/OnePieceBalance.java
@@ -40,7 +40,7 @@ public void run(Context context) {
             log("invalid alliance");
             return;
         }
-        new ScoreHigh(type).run(context);
-        new GyroBalance(alliance.get()).run(context);
+        context.runSync(new ScoreHigh(type));
+        context.runSync(new GyroBalance(alliance.get()));
     }
 }
diff --git a/src/main/java/com/team766/robot/gatorade/procedures/OnePieceExitCommunity.java b/src/main/java/com/team766/robot/gatorade/procedures/OnePieceExitCommunity.java
@@ -41,8 +41,8 @@ public void run(Context context) {
             return;
         }
         log("exiting");
-        new ScoreHigh(type).run(context);
-        new RetractWristvator().run(context);
-        new ExitCommunity().run(context);
+        context.runSync(new ScoreHigh(type));
+        context.runSync(new RetractWristvator());
+        context.runSync(new ExitCommunity());
     }
 }
diff --git a/src/main/java/com/team766/robot/gatorade/procedures/OnePieceExitCommunityBalance.java b/src/main/java/com/team766/robot/gatorade/procedures/OnePieceExitCommunityBalance.java
@@ -41,9 +41,9 @@ public void run(Context context) {
             return;
         }
         log("exiting");
-        new ScoreHigh(type).run(context);
-        new ExitCommunity().run(context);
+        context.runSync(new ScoreHigh(type));
+        context.runSync(new ExitCommunity());
         log("Transitioning");
-        new GyroBalance(alliance.get()).run(context);
+        context.runSync(new GyroBalance(alliance.get()));
     }
 }
diff --git a/src/main/java/com/team766/robot/gatorade/procedures/RetractWristvatorIdleIntake.java b/src/main/java/com/team766/robot/gatorade/procedures/RetractWristvatorIdleIntake.java
@@ -5,7 +5,7 @@
 
 public class RetractWristvatorIdleIntake extends Procedure {
     public void run(Context context) {
-        new RetractWristvator().run(context);
-        new IntakeIdle().run(context);
+        context.runSync(new RetractWristvator());
+        context.runSync(new IntakeIdle());
     }
 }
diff --git a/src/main/java/com/team766/robot/gatorade/procedures/ScoreHigh.java b/src/main/java/com/team766/robot/gatorade/procedures/ScoreHigh.java
@@ -16,9 +16,9 @@ public void run(Context context) {
         context.takeOwnership(Robot.intake);
         Robot.intake.setGamePieceType(type);
         context.releaseOwnership(Robot.intake);
-        new ExtendWristvatorToHigh().run(context);
-        new IntakeOut().run(context);
+        context.runSync(new ExtendWristvatorToHigh());
+        context.runSync(new IntakeOut());
         context.waitForSeconds(1);
-        new IntakeStop().run(context);
+        context.runSync(new IntakeStop());
     }
 }
diff --git a/src/main/java/com/team766/robot/reva/procedures/ShootVelocityAndIntake.java b/src/main/java/com/team766/robot/reva/procedures/ShootVelocityAndIntake.java
@@ -24,10 +24,10 @@ public void run(Context context) {
         context.waitFor(Robot.shooter::isCloseToExpectedSpeed);
         log("SUIIII");
 
-        new IntakeIn().run(context);
+        context.runSync(new IntakeIn());
         context.waitForSeconds(1.5);
 
-        new IntakeStop().run(context);
+        context.runSync(new IntakeStop());
         Robot.shooter.shoot(0);
     }
 }