TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DriverOpMode.java
/**
     * Wobble goal pick up and drop
     * Left right dpad to move arm back and forward
     * A key to trigger the pick up sequence
     * B key to trigger the drop sequence
     */
Wobble goal pick up and drop
Left right dpad to move arm back and forward
A key to trigger the pick up sequence
B key to trigger the drop sequence
Wobble goal pick up and drop Left right dpad to move arm back and forward A key to trigger the pick up sequence B key to trigger the drop sequence
private void handleArmAndGrabber() {
        if (gamepad1.dpad_right && !dpadRightPressed) {
            robotHardware.setArmNextPosition();
            dpadRightPressed = true;
        }
        dpadRightPressed = gamepad1.dpad_right;
        if (gamepad1.dpad_left && !dpadLeftPressed) {
            robotHardware.setArmPrevPosition();
            dpadLeftPressed = true;
        }
        dpadLeftPressed = gamepad1.dpad_left;
        if (gamepad1.b) {
            currentTask = dropWobble;
            currentTask.prepare();
        }
        if (!aPressed && gamepad1.a) {
            if (gamepad1.left_bumper) {
                currentTask = new AutoWobbleGoalPickUpTask(robotHardware, robotProfile);
                currentTask.prepare();
            }
            else {
                currentTask = grabLift;
                grabLift.prepare();
            }
        }
        aPressed = gamepad1.a;
    }
private void handleArmAndGrabber ( ) { if ( gamepad1 . dpad_right && ! dpadRightPressed ) { robotHardware . setArmNextPosition ( ) ; dpadRightPressed = true ; } dpadRightPressed = gamepad1 . dpad_right ; if ( gamepad1 . dpad_left && ! dpadLeftPressed ) { robotHardware . setArmPrevPosition ( ) ; dpadLeftPressed = true ; } dpadLeftPressed = gamepad1 . dpad_left ; if ( gamepad1 . b ) { currentTask = dropWobble ; currentTask . prepare ( ) ; } if ( ! aPressed && gamepad1 . a ) { if ( gamepad1 . left_bumper ) { currentTask = new AutoWobbleGoalPickUpTask ( robotHardware , robotProfile ) ; currentTask . prepare ( ) ; } else { currentTask = grabLift ; grabLift . prepare ( ) ; } } aPressed = gamepad1 . a ; }
Wobble goal pick up and drop
 Left right dpad to move arm back and forward
 A key to trigger the pick up sequence
 B key to trigger the drop sequence
Wobble goal pick up and drop Left right dpad to move arm back and forward A key to trigger the pick up sequence B key to trigger the drop sequence