Merge branch 'Intaking-stuff-sim' of https://github.com/FRC-7525/2024…

…-Progathon into Intaking-stuff-sim
FRC-7525 · Jan 2, 2025 · ee2d1d1 · ee2d1d1
2 parents a4ca529 + 377674b
commit ee2d1d1
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Showing 4 changed files with 18 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Indexer/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer/Indexer.java
@@ -1,12 +1,11 @@
 package frc.robot.subsystems.Indexer;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import frc.robot.GlobalConstants;
 import frc.robot.GlobalConstants.RobotMode;
 import frc.robot.pioneersLib.subsystem.Subsystem;
 import frc.robot.subsystems.Intake.Intake;
-
-import static edu.wpi.first.units.Units.Seconds;
-
 import org.littletonrobotics.junction.Logger;
 
 public class Indexer extends Subsystem<IndexerStates> {
@@ -17,15 +16,16 @@ public class Indexer extends Subsystem<IndexerStates> {
 
 	private Indexer() {
 		super("Indexer", IndexerStates.OFF);
-
-		addTrigger(IndexerStates.AUTONOMOUS_ON, IndexerStates.AUTONOMOUS_OFF, () ->
-			{if (GlobalConstants.ROBOT_MODE == RobotMode.SIM) {
+		addTrigger(IndexerStates.AUTONOMOUS_ON, IndexerStates.AUTONOMOUS_OFF, () -> {
+			if (GlobalConstants.ROBOT_MODE == RobotMode.SIM) {
 				return getStateTime() > IndexerConstants.SIMULATED_INDEXING_TIME.in(Seconds);
 			} else {
 				return io.nextSensorTriggered();
-			}}
+			}
+		});
+		addTrigger(IndexerStates.AUTONOMOUS_OFF, IndexerStates.AUTONOMOUS_ON, () ->
+			Intake.getInstance().hasGamepiece()
 		);
-		addTrigger(IndexerStates.AUTONOMOUS_OFF, IndexerStates.AUTONOMOUS_ON, () -> Intake.getInstance().hasGamepiece());
 
 		this.io = switch (GlobalConstants.ROBOT_MODE) {
 			case SIM -> new IndexerIOSim();

diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java
@@ -40,11 +40,12 @@ public static final class Sim {
 		public static final MomentOfInertia WHEEL_MOTOR_MOI = KilogramSquareMeters.of(1); // random value
 		public static final double WHEEL_MOTOR_GEARING = 3;
 		public static final PIDConstants WHEEL_PID_CONSTANTS = new PIDConstants(0.0012, 0, 0);
-		
+
 		public static final Time SIMULATED_INTAKING_TIME = Seconds.of(1);
 	}
 
 	public static final class Real {
+
 		public static final int WHEEL_MOTOR_CANID = 10;
 		public static final int PIVOT_MOTOR_CANID = 11;
 		public static final int BEAM_BREAK_DIO_PORT = 10;

diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -1,8 +1,7 @@
 package frc.robot.subsystems.Intake;
 
-import org.littletonrobotics.junction.AutoLog;
-
 import com.fasterxml.jackson.databind.ser.std.StdKeySerializers.Default;
+import org.littletonrobotics.junction.AutoLog;
 
 public interface IntakeIO {
 	@AutoLog
@@ -17,11 +16,13 @@ public static class IntakeIOInputs {
 		public double wheelSpeedSetpoint;
 	}
 
-	public default void updateInputs(IntakeIOInputs input) {};
+	public default void updateInputs(IntakeIOInputs input) {}
 
-	public default void setPivotSetpoint(double pivotSetpoint) {};
+	public default void setPivotSetpoint(double pivotSetpoint) {}
 
-	public default void setWheelSpeed(double wheelSpeed) {};
+	public default void setWheelSpeed(double wheelSpeed) {}
 
-	public default boolean hasGamepiece() {return false;};
+	public default boolean hasGamepiece() {
+		return false;
+	}
 }
diff --git a/src/main/java/frc/robot/subsystems/Manager/Manager.java b/src/main/java/frc/robot/subsystems/Manager/Manager.java
@@ -57,7 +57,7 @@ private Manager() {
 				() -> TEST_CONTROLLER.getYButtonPressed()
 			);
 		}
-				
+
 		// from idle
 		addTrigger(ManagerStates.IDLE, ManagerStates.INTAKING, () ->
 			Controllers.DRIVER_CONTROLLER.getBButtonPressed()