[#466] reformating (needs testing!)

frc-862 · Mar 22, 2024 · ba4f00e · ba4f00e
1 parent 45869da
commit ba4f00e
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Showing 2 changed files with 8 additions and 26 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -24,6 +24,7 @@
 import frc.robot.Constants.PathFindingConstants;
 import frc.robot.Constants.LEDsConstants.LED_STATES;
 import frc.robot.Constants.TunerConstants;
+import frc.robot.command.AutonSmartCollect;
 import frc.robot.command.ChasePieces;
 import frc.robot.command.Collect;
 import frc.robot.command.CollectAndGo;
@@ -165,7 +166,7 @@ protected void initializeNamedCommands() {
         NamedCommands.registerCommand("Chase-Pieces",
                 new ChasePieces(drivetrain, collector, indexer, pivot, flywheel, limelights));
         NamedCommands.registerCommand("Smart-Collect",
-                new SmartCollect(() -> .5d, () -> .6d, collector, indexer, pivot, flywheel)
+                new AutonSmartCollect(() -> 0.5, () -> 0.6, collector, indexer, pivot)
                         .deadlineWith(leds.enableState(LED_STATES.COLLECTING).withTimeout(1)));
         NamedCommands.registerCommand("Index-Up", new Index(() -> IndexerConstants.INDEXER_DEFAULT_POWER, indexer));
         NamedCommands.registerCommand("PathFind", new PathToPose(PathFindingConstants.TEST_POSE));

diff --git a/src/main/java/frc/robot/command/AutonSmartCollect.java b/src/main/java/frc/robot/command/AutonSmartCollect.java
@@ -7,7 +7,6 @@
 import frc.robot.RobotContainer;
 import frc.robot.Constants.IndexerConstants.PieceState;
 import frc.robot.subsystems.Collector;
-import frc.robot.subsystems.Flywheel;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Pivot;
 import frc.thunder.command.TimedCommand;
@@ -19,7 +18,6 @@ public class AutonSmartCollect extends Command {
     private Collector collector;
     private Indexer indexer;
     private Pivot pivot;
-    private Flywheel flywheel;
 
     /* Used to prevent indexing if pivot angle is too high */
     private boolean allowIndex;
@@ -38,22 +36,17 @@ public class AutonSmartCollect extends Command {
      * @param collector      subsystem
      * @param indexer        subsystem
      * @param pivot          subsystem (read only)
-     * @param flywheel       subsystem
      */
     public AutonSmartCollect(DoubleSupplier collectorPower, DoubleSupplier indexerPower, Collector collector,
-            Indexer indexer, Pivot pivot, Flywheel flywheel) {
+            Indexer indexer, Pivot pivot) {
+        this.collectorPower = collectorPower;
+        this.indexerPower = indexerPower;
+
         this.collector = collector;
         this.indexer = indexer;
         this.pivot = pivot;
-        this.flywheel = flywheel;
-        this.collectorPower = collectorPower;
-        this.indexerPower = indexerPower;
 
-        if (DriverStation.isAutonomous()) {
-            addRequirements(collector, indexer);
-        } else {
-            addRequirements(collector, indexer, flywheel);
-        }
+        addRequirements(collector, indexer);
     }
 
     @Override
@@ -73,9 +66,6 @@ public void execute() {
                 collector.setPower(collectorPower.getAsDouble());
                 if (allowIndex) {
                     indexer.setPower(indexerPower.getAsDouble());
-                    if (!DriverStation.isAutonomous()) {
-                        flywheel.setAllMotorsRPM(-200);
-                    }
                 }
                 break;
 
@@ -84,9 +74,6 @@ public void execute() {
                     // Slow down collector to prevent jamming
                     collector.setPower(0.65 * collectorPower.getAsDouble());
                     indexer.setPower(indexerPower.getAsDouble());
-                    if(!DriverStation.isAutonomous()){
-                        flywheel.setAllMotorsRPM(-500);
-                    }
                 } else {
                     // Stop collecting since pivot is not in right place
                     collector.stop();
@@ -100,9 +87,6 @@ public void execute() {
                     indexer.setPower(0.9 * indexerPower.getAsDouble());
                 } else if (reversedFromExit) {
                     indexer.stop();
-                    if(!DriverStation.isAutonomous()){
-                        flywheel.coast(true);
-                    }
                     new TimedCommand(RobotContainer.hapticCopilotCommand(), 1d).schedule();
                 }
                 break;
@@ -119,11 +103,8 @@ public void execute() {
     public void end(boolean interrupted) {
         collector.stop();
         indexer.stop();
-        if(!DriverStation.isAutonomous()){
-            flywheel.coast(true);
-        }
 
-        System.out.println("COLLECT - Smart Collect END");
+        System.out.println("COLLECT - Auton Smart Collect END");
     }
 
     @Override