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Iron-Panthers · Sep 27, 2024 · 14564b9 · 14564b9
1 parent e2262c9
commit 14564b9
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Showing 6 changed files with 35 additions and 45 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -36,6 +36,7 @@
 import frc.robot.commands.AmpPreparationCommand;
 import frc.robot.commands.DefaultDriveCommand;
 import frc.robot.commands.DefenseModeCommand;
+import frc.robot.commands.DrivebaseTargetLockCommand;
 import frc.robot.commands.HaltDriveCommandsCommand;
 import frc.robot.commands.IntakeCommand;
 import frc.robot.commands.LoadShooterCommand;
@@ -51,7 +52,6 @@
 import frc.robot.commands.ShootCommand;
 import frc.robot.commands.StopIntakeCommand;
 import frc.robot.commands.StopShooterCommand;
-import frc.robot.commands.DrivebaseTargetLockCommand;
 import frc.robot.commands.VibrateHIDCommand;
 import frc.robot.subsystems.CANWatchdogSubsystem;
 import frc.robot.subsystems.DrivebaseSubsystem;
@@ -227,7 +227,7 @@ public RobotContainer() {
             translationXSupplier,
             translationYSupplier,
             // anthony.rightBumper(),
-            ()-> false));
+            () -> false));
 
     rgbSubsystem.setDefaultCommand(
         new RGBCommand(
@@ -359,7 +359,7 @@ private void configureButtonBindings() {
                         intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem)));
 
     // SHOOT OVERRIDE
-    
+
     // FIXME should be right trigger is move elevator up, left trigger is move elevator down
     jacob
         .rightTrigger()
@@ -370,21 +370,22 @@ private void configureButtonBindings() {
     jacob
         .y()
         .whileTrue(
-            new DrivebaseTargetLockCommand(drivebaseSubsystem, translationXSupplier, translationYSupplier)
+            new DrivebaseTargetLockCommand(
+                    drivebaseSubsystem, translationXSupplier, translationYSupplier)
                 .alongWith(new PivotTargetLockCommand(pivotSubsystem, drivebaseSubsystem)));
 
     DoubleSupplier pivotManualRate = () -> modifyAxis(-jacob.getLeftY());
 
     new Trigger(() -> pivotManualRate.getAsDouble() > 0.07)
         .onTrue(new PivotManualCommand(pivotSubsystem, pivotManualRate));
-    
+
     DoubleSupplier elevatorDownSupplier = () -> modifyAxis(-jacob.getLeftTriggerAxis());
     DoubleSupplier elevatorUpSupplier = () -> modifyAxis(jacob.getLeftTriggerAxis());
 
-    new Trigger(() -> elevatorDownSupplier.getAsDouble()<-0.07)
+    new Trigger(() -> elevatorDownSupplier.getAsDouble() < -0.07)
         .onTrue(new ManualElevatorCommand(elevatorDownSupplier, elevatorSubsystem));
 
-    new Trigger(() -> elevatorUpSupplier.getAsDouble()>0.07)
+    new Trigger(() -> elevatorUpSupplier.getAsDouble() > 0.07)
         .onTrue(new ManualElevatorCommand(elevatorUpSupplier, elevatorSubsystem));
 
     // SOURCE
@@ -403,23 +404,19 @@ private void configureButtonBindings() {
                         intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem)));
 
     // NOTE TO SHOOTER OR SERIALIZER
-    anthony
-        .b()
-        .onTrue(
-            new LoadShooterCommand(shooterSubsystem, pivotSubsystem, elevatorSubsystem));
+    anthony.b().onTrue(new LoadShooterCommand(shooterSubsystem, pivotSubsystem, elevatorSubsystem));
 
-    jacob
-        .b()
-        .onTrue(
-            new LoadShooterCommand(shooterSubsystem, pivotSubsystem, elevatorSubsystem));
+    jacob.b().onTrue(new LoadShooterCommand(shooterSubsystem, pivotSubsystem, elevatorSubsystem));
     jacob
         .a()
         .onTrue(
             new RotateAngleDriveCommand(
                     drivebaseSubsystem,
                     translationXSupplier,
                     translationYSupplier,
-                    DriverStation.getAlliance().get().equals(Alliance.Red) ? -50 : 50) // FIXME confirm angles
+                    DriverStation.getAlliance().get().equals(Alliance.Red)
+                        ? -50
+                        : 50) // FIXME confirm angles
                 .alongWith(
                     new AmpPreparationCommand(
                         pivotSubsystem, elevatorSubsystem, shooterSubsystem, intakeSubsystem)));
@@ -439,29 +436,23 @@ private void configureButtonBindings() {
                     drivebaseSubsystem,
                     translationXSupplier,
                     translationYSupplier,
-                    DriverStation.getAlliance().get().equals(Alliance.Red) ? -50 : 50) // FIXME confirm angles
+                    DriverStation.getAlliance().get().equals(Alliance.Red)
+                        ? -50
+                        : 50) // FIXME confirm angles
                 .alongWith(
                     new AmpPreparationCommand(
                         pivotSubsystem, elevatorSubsystem, shooterSubsystem, intakeSubsystem)));
-
-    //PIVOT SETPOINTS
-    anthony
-        .povUp().onTrue(
-            new PivotAngleCommand(pivotSubsystem, 30));
 
-    anthony
-        .povLeft().onTrue(
-            new PivotAngleCommand(pivotSubsystem, 60));
+    // PIVOT SETPOINTS
+    anthony.povUp().onTrue(new PivotAngleCommand(pivotSubsystem, 30));
 
-    anthony
-        .povRight().onTrue(
-            new PivotAngleCommand(pivotSubsystem, 75));
+    anthony.povLeft().onTrue(new PivotAngleCommand(pivotSubsystem, 60));
 
-    anthony
-        .povDown().onTrue(
-            new PivotAngleCommand(pivotSubsystem, 55));
-    
-    //TRAP CLIMB STUFF
+    anthony.povRight().onTrue(new PivotAngleCommand(pivotSubsystem, 75));
+
+    anthony.povDown().onTrue(new PivotAngleCommand(pivotSubsystem, 55));
+
+    // TRAP CLIMB STUFF
     // jacob.
     //     povCenter().onTrue();
 

diff --git a/src/main/java/frc/robot/commands/AmpPreparationCommand.java b/src/main/java/frc/robot/commands/AmpPreparationCommand.java
@@ -23,9 +23,10 @@ public AmpPreparationCommand(
     } else {
       addCommands(
           new UnloadShooterCommand(shooterSubsystem, pivotSubsystem, elevatorSubsystem)
-      .andThen(new IntakeCommand(
-        intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem))
-      .andThen(new ElevatorHeightCommand(elevatorSubsystem, Elevator.AMP_HEIGHT)));
+              .andThen(
+                  new IntakeCommand(
+                      intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem))
+              .andThen(new ElevatorHeightCommand(elevatorSubsystem, Elevator.AMP_HEIGHT)));
     }
   }
 }
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -43,7 +43,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevatorSubsystem.atTargetHeight()){
+    if (elevatorSubsystem.atTargetHeight()) {
       intakeSubsystem.setIntakeMode(IntakeMode.INTAKE);
       shooterSubsystem.setShooterMode(ShooterMode.INTAKE);
     }

diff --git a/src/main/java/frc/robot/commands/LoadShooterCommand.java b/src/main/java/frc/robot/commands/LoadShooterCommand.java
@@ -20,7 +20,6 @@ public class LoadShooterCommand extends Command {
   PivotSubsystem pivotSubsystem;
 
   /** Use PivotAndElevatorTransferCommand before running */
-
   public LoadShooterCommand(
       ShooterSubsystem shooterSubsystem,
       PivotSubsystem pivotSubsystem,

diff --git a/src/main/java/frc/robot/commands/ManualElevatorCommand.java b/src/main/java/frc/robot/commands/ManualElevatorCommand.java
@@ -4,17 +4,18 @@
 
 package frc.robot.commands;
 
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.ElevatorSubsystem;
+import java.util.function.DoubleSupplier;
 
 public class ManualElevatorCommand extends Command {
   /** Creates a new ManualElevatorCommand. */
   DoubleSupplier directionSupplier;
+
   ElevatorSubsystem elevatorSubsystem;
+
   public ManualElevatorCommand(
-    DoubleSupplier directionSupplier, ElevatorSubsystem elevatorSubsystem) {
+      DoubleSupplier directionSupplier, ElevatorSubsystem elevatorSubsystem) {
     this.directionSupplier = directionSupplier;
     this.elevatorSubsystem = elevatorSubsystem;
     addRequirements(elevatorSubsystem);
@@ -29,9 +30,7 @@ public void initialize() {}
   @Override
   public void execute() {
     elevatorSubsystem.setTargetHeight(
-      elevatorSubsystem.getElevatorPosition()
-      +directionSupplier.getAsDouble());
-
+        elevatorSubsystem.getElevatorPosition() + directionSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.

diff --git a/src/main/java/frc/robot/commands/UnloadShooterCommand.java b/src/main/java/frc/robot/commands/UnloadShooterCommand.java
@@ -43,7 +43,7 @@ public void execute() {
     if (elevatorSubsystem.atTargetHeight() && pivotSubsystem.atTargetDegrees()) {
       shooterSubsystem.setShooterMode(ShooterMode.SHOOTER_UNLOAD);
     }
-      if (shooterSubsystem.isSerializerBeamBreakSensorTriggered() && pass == false) {
+    if (shooterSubsystem.isSerializerBeamBreakSensorTriggered() && pass == false) {
       pass = true;
     }
   }