Chief Delphi - How to do automatic action in the teleop?

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How to do automatic action in the teleop?

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:

Code:

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?

Re: How to do automatic action in the teleop?

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):

Code:

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();

}