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Coment out drive (we took off all the motors)
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94 changes: 47 additions & 47 deletions
94
src/main/java/frc/robot/commands/ShootNearSpeakerCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,47 +1,47 @@ | ||
| package frc.robot.commands; | ||
|
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||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants; | ||
| import frc.robot.Robot; | ||
| import frc.robot.subsystems.manager.ManagerStates; | ||
|
|
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| public class ShootNearSpeakerCommand extends Command { | ||
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| // Kinda an auto command, but it has a is finished condition soooo too bad so sad | ||
|
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| Robot robot = null; | ||
| public boolean shot = false; | ||
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| public ShootNearSpeakerCommand(Robot robot) { | ||
| this.robot = robot; | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| robot.managerSubsystem.setState(ManagerStates.SPINNING_UP); | ||
| shot = false; | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| if ( | ||
| robot.managerSubsystem.driveNearSetPose( | ||
| (DriverStation.getAlliance().get() == DriverStation.Alliance.Blue | ||
| ? Constants.AutoAlign.blueSpeakerPose | ||
| : Constants.AutoAlign.redSpeakerPose) | ||
| ) && | ||
| !shot && | ||
| robot.managerSubsystem.intakeNearSetpoints() | ||
| ) { | ||
| // Good practice to do this? Prob not. Not too important so idc | ||
| robot.managerSubsystem.setState(ManagerStates.SHOOTING); | ||
| shot = true; | ||
| } | ||
| } | ||
|
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| @Override | ||
| public boolean isFinished() { | ||
| return shot && robot.managerSubsystem.getState() == ManagerStates.IDLE; | ||
| } | ||
| } | ||
| // package frc.robot.commands; | ||
|
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| // import edu.wpi.first.wpilibj.DriverStation; | ||
| // import edu.wpi.first.wpilibj2.command.Command; | ||
| // import frc.robot.Constants; | ||
| // import frc.robot.Robot; | ||
| // import frc.robot.subsystems.manager.ManagerStates; | ||
|
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| // public class ShootNearSpeakerCommand extends Command { | ||
|
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| // // Kinda an auto command, but it has a is finished condition soooo too bad so sad | ||
|
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| // Robot robot = null; | ||
| // public boolean shot = false; | ||
|
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| // public ShootNearSpeakerCommand(Robot robot) { | ||
| // this.robot = robot; | ||
| // } | ||
|
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| // @Override | ||
| // public void initialize() { | ||
| // robot.managerSubsystem.setState(ManagerStates.SPINNING_UP); | ||
| // shot = false; | ||
| // } | ||
|
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||
| // @Override | ||
| // public void execute() { | ||
| // if ( | ||
| // robot.managerSubsystem.driveNearSetPose( | ||
| // (DriverStation.getAlliance().get() == DriverStation.Alliance.Blue | ||
| // ? Constants.AutoAlign.blueSpeakerPose | ||
| // : Constants.AutoAlign.redSpeakerPose) | ||
| // ) && | ||
| // !shot && | ||
| // robot.managerSubsystem.intakeNearSetpoints() | ||
| // ) { | ||
| // // Good practice to do this? Prob not. Not too important so idc | ||
| // robot.managerSubsystem.setState(ManagerStates.SHOOTING); | ||
| // shot = true; | ||
| // } | ||
| // } | ||
|
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||
| // @Override | ||
| // public boolean isFinished() { | ||
| // return shot && robot.managerSubsystem.getState() == ManagerStates.IDLE; | ||
| // } | ||
| // } |
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