How to do automatic action in the teleop?

[gofmannir]

Hello :)
I'm trying to implement that when I'm press a button on the joystick the robot starting an automatic actions (in the teleop periodic)...
for example when pressing a button 3 it will called a custom method:


if(stick.getRawButton(3)){
startAutoMoving();
}


But I'm still want the all the other statements and the other action still will work - which means the I cant use here the delay() method...

Any ideas?

[mikets]

Sure. Your autonomous action should be implemented using a state machine. The state machine should have a START state and a DONE state. In your teleop periodic, you check for a button and then start the state machine. You also add a statement to execute the state machine in your teleop periodic code. Something like this (this is pseudocode so it is not syntactically correct):

private int autoActionState = 0; // 0 is the DONE state.

private void runAutoAction()
{
switch (autoActionState)
{
case 1:
// do step 1
break;

case 2:
// do step 2
break;
....
....
default:
case 0:
// We are done, don't do anything.
break;
}
}

public void teleOp_Periodic()
{
if (button 1 is pressed)
{
// Start the state machine.
autoActionState = 1;
}

// doing other things.
....
....

runAutoAction();
}