Add runSync to Context for symmetry with startAsync

src/main/java/com/team766/framework/Context.java

@@ -98,6 +98,12 @@ public interface Context {
      */
     LaunchedContext startAsync(final Runnable func);
 
+    /**
+     * Run the given Procedure synchronously (the calling Procedure will not resume until this one
+     * has finished).
+     */
+    void runSync(final RunnableWithContext func);
+
     /**
      * Take ownership of the given Mechanism with this Context.
      *

src/main/java/com/team766/framework/ContextImpl.java

@@ -421,6 +421,11 @@ public LaunchedContext startAsync(final Runnable func) {
         return new ContextImpl<>(func, this);
     }
 
+    @Override
+    public void runSync(final RunnableWithContext func) {
+        func.run(this);
+    }
+
     /**
      * Interrupt the running of this Context and force it to terminate.
      *

src/main/java/com/team766/robot/common/procedures/PathSequenceAuto.java

@@ -116,7 +116,7 @@ public final void run(Context context) {
                                 : initialPosition.getRotation())
                         .getDegrees());
         for (RunnableWithContext pathItem : pathItems) {
-            pathItem.run(context);
+            context.runSync(pathItem);
             context.yield();
         }
 

src/main/java/com/team766/robot/gatorade/OI.java

@@ -65,20 +65,20 @@ public void run(Context context) {
             driverOI.handleOI(context);
 
             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());
             }
 
             // Respond to boxop commands
 
             // 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);
             }
@@ -103,11 +103,11 @@ 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,

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));
     }
 }

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);

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();

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()));
     }
 }

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());
     }
 }

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()));
     }
 }

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());
     }
 }

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());
     }
 }

src/main/java/com/team766/robot/reva/procedures/DriverShootNow.java

@@ -109,7 +109,7 @@ public void run(Context context) {
         context.waitForConditionOrTimeout(() -> Robot.shoulder.isFinished(), 1);
 
         Robot.lights.signalFinishingShootingProcedure();
-        new DriverShootVelocityAndIntake().run(context);
+        context.runSync(new DriverShootVelocityAndIntake());
     }
 
     private Transform3d getTransform3dOfRobotToTag() throws AprilTagGeneralCheckedException {

src/main/java/com/team766/robot/reva/procedures/DriverShootVelocityAndIntake.java

@@ -10,7 +10,7 @@ public void run(Context context) {
 
         context.waitForConditionOrTimeout(Robot.shooter::isCloseToExpectedSpeed, 1);
 
-        new IntakeIn().run(context);
+        context.runSync(new IntakeIn());
 
         // Does not stop intake here so driver can stop when button released
     }

src/main/java/com/team766/robot/reva/procedures/NoRotateShootNow.java

@@ -49,7 +49,7 @@ public void run(Context context) {
 
             context.releaseOwnership(Robot.shooter);
             context.releaseOwnership(Robot.shoulder);
-            new ShootVelocityAndIntake(power).run(context);
+            context.runSync(new ShootVelocityAndIntake(power));
 
         } else {
             // context.takeOwnership(Robot.shooter);
@@ -64,7 +64,7 @@ public void run(Context context) {
             // context.releaseOwnership(Robot.shoulder);
             // context.releaseOwnership(Robot.shooter);
 
-            new ShootVelocityAndIntake(3000).run(context);
+            context.runSync(new ShootVelocityAndIntake(3000));
         }
     }
 }

src/main/java/com/team766/robot/reva/procedures/RotateAndShootNow.java

@@ -53,6 +53,6 @@ public void run(Context context) {
         // context.releaseOwnership(Robot.shoulder);
         context.releaseOwnership(Robot.drive);
         context.releaseOwnership(Robot.shooter);
-        new ShootVelocityAndIntake().run(context);
+        context.runSync(new ShootVelocityAndIntake());
     }
 }

src/main/java/com/team766/robot/reva/procedures/ShootAtSubwoofer.java

@@ -10,6 +10,6 @@ public void run(Context context) {
         context.takeOwnership(Robot.shoulder);
         Robot.shoulder.rotate(ShoulderPosition.SHOOT_LOW);
         context.releaseOwnership(Robot.shoulder);
-        new ShootVelocityAndIntake().run(context);
+        context.runSync(new ShootVelocityAndIntake());
     }
 }

src/main/java/com/team766/robot/reva/procedures/ShootNow.java

@@ -113,7 +113,7 @@ public void run(Context context) {
 
         context.releaseOwnership(Robot.shooter);
         Robot.lights.signalFinishingShootingProcedure();
-        new ShootVelocityAndIntake(power).run(context);
+        context.runSync(new ShootVelocityAndIntake(power));
         context.releaseOwnership(Robot.drive);
     }
 

src/main/java/com/team766/robot/reva/procedures/ShootVelocityAndIntake.java

@@ -22,12 +22,12 @@ public void run(Context context) {
         Robot.shooter.shoot(speed);
         context.waitForConditionOrTimeout(Robot.shooter::isCloseToExpectedSpeed, 1.5);
 
-        new IntakeIn().run(context);
+        context.runSync(new IntakeIn());
 
         // FIXME: change this value back to 1.5s if doesn't intake for long enough
         context.waitForSeconds(1.2);
 
-        new IntakeStop().run(context);
+        context.runSync(new IntakeStop());
         Robot.lights.signalFinishedShootingProcedure();
 
         // Shooter stopped at the end of auton