Update for new actions

wheelerrobotics · Jan 2, 2023 · d0b06e2 · d0b06e2
1 parent 2d9c57a
commit d0b06e2
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Action.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Action.java
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java
@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.canvas.Canvas;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+public abstract class ActionOpMode extends LinearOpMode {
+    private final FtcDashboard dash = FtcDashboard.getInstance();
+
+    protected void runBlocking(Action a) {
+        Canvas c = new Canvas();
+        a.preview(c);
+
+        boolean b = true;
+        while (b && !isStopRequested()) {
+            TelemetryPacket p = new TelemetryPacket();
+            p.fieldOverlay().getOperations().addAll(c.getOperations());
+
+            b = a.run(p);
+
+            dash.sendTelemetryPacket(p);
+        }
+    }
+}