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Galaxia5987 · Sep 12, 2021 · de04d8a · de04d8a
1 parent d3c4a65
commit de04d8a
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Showing 2 changed files with 14 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/subsystems/colorwheel/ColorWheel.java b/src/main/java/frc/robot/subsystems/colorwheel/ColorWheel.java
@@ -16,12 +16,15 @@ public class ColorWheel extends SubsystemBase {
 
     private String lastColor = "";
 
-    public String whatColor() {
-        Color color = sensor.getColor();
+    public ColorWheel() {
         match.addColorMatch(Color.kYellow); // yellow
         match.addColorMatch(Color.kGreen); // green
         match.addColorMatch(Color.kRed); // red
         match.addColorMatch(Color.kBlue); // blue
+    }
+
+    public String whatColor() {
+        Color color = sensor.getColor();
         ColorMatchResult result = match.matchClosestColor(color);
         Color resultColor = result.color;
 
@@ -35,13 +38,14 @@ public String whatColor() {
             return "blue";
         }
     }
-        public String rotationColor () {
-            return "";
-        }
-
-        public void setPower (double powerMotor){
-            motor.set(ControlMode.PercentOutput, powerMotor);
-        }
 
+    public String rotationColor() {
+        return "";
+    }
 
+    public void setPower(double powerMotor) {
+        motor.set(ControlMode.PercentOutput, powerMotor);
     }
+
+
+}
diff --git a/src/main/java/frc/robot/subsystems/colorwheel/commands/RotationControl.java b/src/main/java/frc/robot/subsystems/colorwheel/commands/RotationControl.java
@@ -20,7 +20,6 @@ public RotationControl(ColorWheel colorWheel) {
     public void initialize() {
         startingColor = colorWheel.whatColor();
         lastColor = colorWheel.whatColor();
-        currentColor = colorWheel.whatColor();
 
     }
 
@@ -49,6 +48,6 @@ public boolean isFinished() {
 
     @Override
     public void end(boolean interrupted) {
-        colorWheel.setpower(0);
+        colorWheel.setPower(0);
     }
 }