moved auto path arrays to AutoHandlerFSM

Tino-FRC-2473 · Dec 10, 2023 · 89eb8a4 · 89eb8a4
1 parent 47fae2c
commit 89eb8a4
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Showing 2 changed files with 24 additions and 14 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -9,7 +9,7 @@
 // Systems
 import frc.robot.systems.FSMSystem;
 import frc.robot.systems.AutoHandlerSystem;
-import frc.robot.systems.AutoHandlerSystem.AutoFSMState;
+import frc.robot.systems.AutoHandlerSystem.AutoPathIndex;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -18,16 +18,6 @@
 public class Robot extends TimedRobot {
 	private TeleopInput input;
 
-	//Predefined auto paths
-	private static final AutoFSMState[] PATH1 = new AutoFSMState[]{
-		AutoFSMState.STATE1, AutoFSMState.STATE2, AutoFSMState.STATE3};
-
-	private static final AutoFSMState[] PATH2 = new AutoFSMState[]{
-		AutoFSMState.STATE3, AutoFSMState.STATE2, AutoFSMState.STATE1};
-
-	private static final AutoFSMState[] PATH3 = new AutoFSMState[]{
-		AutoFSMState.STATE1, AutoFSMState.STATE3, AutoFSMState.STATE2};
-
 	// Systems
 	private FSMSystem fsmSystem;
 	private AutoHandlerSystem autoHandler;
@@ -49,7 +39,7 @@ public void robotInit() {
 	@Override
 	public void autonomousInit() {
 		System.out.println("-------- Autonomous Init --------");
-		autoHandler.reset(PATH1);
+		autoHandler.reset(AutoPathIndex.PATH1);
 	}
 
 	@Override

diff --git a/src/main/java/frc/robot/systems/AutoHandlerSystem.java b/src/main/java/frc/robot/systems/AutoHandlerSystem.java
@@ -8,6 +8,11 @@ public enum AutoFSMState {
 		STATE2,
 		STATE3
 	}
+	public enum AutoPathIndex {
+		PATH1,
+		PATH2,
+		PATH3
+	}
 
 	/* ======================== Private variables ======================== */
 	//Contains the sequential list of states in the current auto path that must be executed
@@ -22,6 +27,15 @@ public enum AutoFSMState {
 	//FSM Systems that the autoHandlerFSM uses
 	private FSMSystem subsystem1;
 
+	//Predefined auto paths
+	private static final AutoFSMState[] PATH1 = new AutoFSMState[]{
+		AutoFSMState.STATE1, AutoFSMState.STATE2, AutoFSMState.STATE3};
+
+	private static final AutoFSMState[] PATH2 = new AutoFSMState[]{
+		AutoFSMState.STATE3, AutoFSMState.STATE2, AutoFSMState.STATE1};
+
+	private static final AutoFSMState[] PATH3 = new AutoFSMState[]{
+		AutoFSMState.STATE1, AutoFSMState.STATE3, AutoFSMState.STATE2};
 	/* ======================== Constructor ======================== */
 	/**
 	 * Create FSMSystem and initialize to starting state.
@@ -50,10 +64,16 @@ public AutoFSMState getCurrentState() {
 	 * Ex. if the robot is enabled, disabled, then reenabled.
 	 * @param path the auto path to be executed
 	 */
-	public void reset(AutoFSMState[] path) {
+	public void reset(AutoPathIndex path) {
 		currentStateIndex = 0;
 		isCurrentStateFinished = false;
-		currentStateList = path;
+		if (path == AutoPathIndex.PATH1) {
+			currentStateList = PATH1;
+		} else if (path == AutoPathIndex.PATH2) {
+			currentStateList = PATH2;
+		} else if (path == AutoPathIndex.PATH3) {
+			currentStateList = PATH3;
+		}
 	}
 
 	/**