LiftLevel.java

package org.firstinspires.ftc.teamcode;


import com.qualcomm.robotcore.hardware.Gamepad;

import java.util.concurrent.RunnableFuture;

public enum LiftLevel {
    PICKUP, CARRY, DROP_1, DROP_3;

    public static double level2Servo(LiftLevel level) {
        switch (level) {
            case PICKUP:
                return 0.82; //0.81
            case CARRY:
                return 0.55;
            case DROP_1: case DROP_3:
                return 0.3; //we dont want this to drop until the player
            //gives the drop command
            default:
                return 0.3;
        }
    }

    public static double level2Motor(LiftLevel level) {
        switch (level) {
            case PICKUP:
                return 0;
            case CARRY:
                return 403.275; //0.75*537.7
            case DROP_1:
                return 470.49;//940.975; //1.75*537.7
            case DROP_3:
                return 2688.5;
            default: // this will never run, but exists because Javac is garbage at pattern matching
                return 403.275;
        }
    }

    public static LiftLevel downLevel(LiftLevel level) {
        switch (level) {
            case PICKUP: case CARRY:
                return PICKUP;
            case DROP_1: case DROP_3:
                return CARRY;
        }
        // throw IllegalArgumentException;
        return level;
    }
    public static LiftLevel upLevel(LiftLevel level, Gamepad gamepad) {
        switch (level) {
            case PICKUP:
                return CARRY;
            case CARRY:
                if     (gamepad.dpad_up)   {return DROP_3;}
                else if(gamepad.dpad_down) {return DROP_1;}
                else {return level;}
//                return DROP_1;
            case DROP_1:
                if (gamepad.dpad_down) {return DROP_1;}
                else {return DROP_3;}
            case DROP_3:
                return DROP_3;
        }
        // throw IllegalArgumentException;
        return level;
    }

    public String toString() {
        switch (this) {
            case PICKUP:
                return "PICKUP";
            case CARRY:
                return "CARRY";
            case DROP_1:
                return "DROP_1";
            case DROP_3:
                return "DROP_3";
            default:
                return "bad value";
        }
    }
}