refactors

201-991-Broncobotics · Feb 27, 2024 · 61dec5d · 61dec5d
1 parent 6859ba2
commit 61dec5d
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Showing 3 changed files with 6 additions and 32 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -150,12 +150,12 @@ private void configureButtonBindings() {
     var stopWithXButton = new Trigger(() -> driver.getRawButton(2));
     stopWithXButton.onTrue(Commands.runOnce(drive::stopWithX, drive));
 
-    operator.a().toggleOnTrue(intake.onCommand());
-    operator.b().toggleOnTrue(intake.offCommand());
-    operator.rightBumper().toggleOnTrue(shooter.shootersOnCommand());
-    operator.leftBumper().toggleOnTrue(shooter.shootersOffCommand());
-    operator.x().toggleOnTrue(shooter.conveyorOnCommand());
-    operator.y().toggleOnTrue(shooter.conveyorOffCommand());
+    operator.a().toggleOnTrue(Commands.runOnce(intake::on, intake));
+    operator.b().toggleOnTrue(Commands.runOnce(intake::off, intake));
+    operator.rightBumper().toggleOnTrue(Commands.runOnce(shooter::shootersOn, shooter));
+    operator.leftBumper().toggleOnTrue(Commands.runOnce(shooter::shootersOff, shooter));
+    operator.x().toggleOnTrue(Commands.runOnce(shooter::conveyorOn, shooter));
+    operator.y().toggleOnTrue(Commands.runOnce(shooter::conveyorOff, shooter));
 
     pivot.setDefaultCommand(
         PivotCommands.basicOperatorControl(

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -1,8 +1,6 @@
 package frc.robot.subsystems.intake;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.IntakeConstants;
 import org.littletonrobotics.junction.Logger;
@@ -31,14 +29,6 @@ public void off() {
     SmartDashboard.putString("intake", "off");
   }
 
-  public Command onCommand() {
-    return new InstantCommand(this::on, this);
-  }
-
-  public Command offCommand() {
-    return new InstantCommand(this::off, this);
-  }
-
   public double getCurrent() {
     return inputs.current;
   }

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -39,20 +39,4 @@ public void conveyorOn() {
   public void conveyorOff() {
     io.setConveyorPower(0);
   }
-
-  public Command shootersOnCommand() {
-    return new InstantCommand(this::shootersOn, this);
-  }
-
-  public Command shootersOffCommand() {
-    return new InstantCommand(this::shootersOff, this);
-  }
-
-  public Command conveyorOnCommand() {
-    return new InstantCommand(this::conveyorOn, this);
-  }
-
-  public Command conveyorOffCommand() {
-    return new InstantCommand(this::conveyorOff, this);
-  }
 }