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Using arraylist for a state machine

I wanted to be able to add cases to the state machine of the enum variable, such as a list of arrays. I did this by creating a list of arrays and using size to tell him how many cases exist and execute them accordingly with a for loop. The problem is that this will go into the next case until my method call completes. How to make the program wait for the method to complete before continuing without using a time delay, since the time can vary in different situations. The case and method refer to the bottom of the code in the loop () method.

package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.hardware.HiTechnicNxtCompassSensor;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.util.ArrayList;

/**
 * Created by Robotics on 12/11/2015.
 */
public class RobotAction extends OpMode {

    //HiTechnicNxtCompassSensor compassSensor;
    //double compassvalue = compassSensor.getDirection();
    double compassvalue;
    double lastcompassvalue;

    DcMotor rightdrive;
    DcMotor leftdrive;
    final double fullpower = 1;

    double angle;
    double distance;

    final double wheelediameter = 4.0;
    final double circumference = wheelediameter * Math.PI;
    final double gearratio = 1;
    final double countsperrotation = 1440;


    double wheelrotations = distance / circumference;
    double motorrotations = wheelrotations * gearratio;
    double encodercounts = motorrotations * countsperrotation;

    int currentpositionright;

    int step;

    ElapsedTime time;

    String status;
    String action;

    public enum RelativePosition {North, NorthEast, East, SouthEast, South, SouthWest, West, NorthWest}
    RelativePosition relativeposition;

    private void Action(double angle, int compassvalue, double encodercounts, RelativePosition relativeposition) {

        action = "running";

        lastcompassvalue = compassvalue;

        switch(relativeposition) {


            case North:
                currentpositionright = rightdrive.getCurrentPosition();

                if (rightdrive.getCurrentPosition() < encodercounts) {
                    rightdrive.setTargetPosition((int) (encodercounts + 1));
                    leftdrive.setTargetPosition((int) (encodercounts + 1));

                    rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                    leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                    rightdrive.setDirection(DcMotor.Direction.REVERSE);
                    rightdrive.setPower(.5);
                    leftdrive.setPower(.5);

                }
                else {
                    rightdrive.setPower(0);
                    leftdrive.setPower(0);
                    rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                }
                break;

            case NorthEast:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue > lastcompassvalue - (90-angle)) {
                    rightdrive.setDirection(DcMotor.Direction.FORWARD);
                    rightdrive.setPower(fullpower);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setDirection(DcMotor.Direction.REVERSE);
                        rightdrive.setPower(fullpower);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case East:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue > lastcompassvalue - 90) {
                    rightdrive.setDirection(DcMotor.Direction.FORWARD);
                    rightdrive.setPower(fullpower);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setDirection(DcMotor.Direction.REVERSE);
                        rightdrive.setPower(fullpower);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case SouthEast:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue > lastcompassvalue - (90+angle)) {
                    rightdrive.setDirection(DcMotor.Direction.FORWARD);
                    rightdrive.setPower(fullpower);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts);
                        leftdrive.setTargetPosition((int) encodercounts);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setDirection(DcMotor.Direction.REVERSE);
                        rightdrive.setPower(fullpower);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case South:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue > lastcompassvalue - 180) {
                    rightdrive.setDirection(DcMotor.Direction.FORWARD);
                    rightdrive.setPower(fullpower);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setDirection(DcMotor.Direction.REVERSE);
                        rightdrive.setPower(fullpower);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case SouthWest:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue < lastcompassvalue + (90+angle) ) {
                    rightdrive.setPower(fullpower);
                    leftdrive.setDirection(DcMotor.Direction.REVERSE);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setPower(fullpower);
                        leftdrive.setDirection(DcMotor.Direction.FORWARD);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case West:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue < lastcompassvalue + 90) {
                    rightdrive.setPower(fullpower);
                    leftdrive.setDirection(DcMotor.Direction.REVERSE);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setPower(fullpower);
                        leftdrive.setDirection(DcMotor.Direction.FORWARD);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;

            case NorthWest:
                currentpositionright = rightdrive.getCurrentPosition();

                if (compassvalue < lastcompassvalue + (90-angle)) {
                    rightdrive.setPower(fullpower);
                    leftdrive.setDirection(DcMotor.Direction.REVERSE);
                    leftdrive.setPower(fullpower);
                }
                else {
                    if(rightdrive.getCurrentPosition() < encodercounts) {
                        rightdrive.setTargetPosition((int) encodercounts + 1);
                        leftdrive.setTargetPosition((int) encodercounts + 1);

                        rightdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RUN_TO_POSITION);

                        rightdrive.setPower(fullpower);
                        leftdrive.setDirection(DcMotor.Direction.FORWARD);
                        leftdrive.setPower(fullpower);
                    }
                    else {
                        rightdrive.setPower(0);
                        leftdrive.setPower(0);
                        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
                    }
                }

                break;
        }
        action = "done";
    }

    private final ArrayList<Integer> Step = new ArrayList<>();

    @Override
    public void init() {

        rightdrive = hardwareMap.dcMotor.get("right_drive");
        leftdrive = hardwareMap.dcMotor.get("left_drive");

        rightdrive.setDirection(DcMotor.Direction.REVERSE);

        leftdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);
        rightdrive.setChannelMode(DcMotorController.RunMode.RESET_ENCODERS);


        step = 1;
        Step.add(step);
        //compassSensor = (HiTechnicNxtCompassSensor) hardwareMap.compassSensor.get("compass");
        compassvalue = 0;

        relativeposition = RelativePosition.North;

        distance = 12;

        angle = 60;



    }

    public void start() {
        status = "Running";

        time = new ElapsedTime();
        time.reset();

    }

    @Override
    public void loop() {

        telemetry.addData("Status", status);
        double currenttime = time.time();

        int size = Step.size();
        for (int i=0; i<size; i++) {
            int element = Step.get(i);

            switch (element) {
                case 1:

                    Action(angle, (int) compassvalue,encodercounts,relativeposition);

                    step++;
                    Step.add(step);

                    break;
                case 2:

                    rightdrive.setPower(0);
                    leftdrive.setPower(0);

                    status = "Done";

            }
        }


    }
}
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Source: https://habr.com/ru/post/1619779/

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