[#477] Fixed

frc-862 · Mar 23, 2024 · cb8eda3 · cb8eda3
1 parent df1b6c4
commit cb8eda3
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Showing 2 changed files with 14 additions and 23 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -88,7 +88,7 @@ public class RobotContainer extends LightningContainer {
     private Flywheel flywheel;
     private Pivot pivot;
     private Indexer indexer;
-//     private Climber climber;
+    private Climber climber;
     LEDs leds;
     Orchestra sing;
 
@@ -129,7 +129,7 @@ protected void initializeSubsystems() {
         flywheel = new Flywheel();
         pivot = Constants.isMercury() ? new PivotMercury() : new PivotRhapsody();
         indexer = new Indexer(collector);
-        // climber = new Climber();
+        climber = new Climber();
         leds = new LEDs();
         sing = new Orchestra();
 
@@ -162,7 +162,7 @@ protected void initializeNamedCommands() {
         NamedCommands.registerCommand("Smart-Shoot",
                 new SmartShoot(flywheel, pivot, drivetrain, indexer, leds)
                         .alongWith(leds.enableState(LED_STATES.SHOOTING).withTimeout(0.5)));
-        NamedCommands.registerCommand("preAim", new preAim(flywheel, pivot, indexer, drivetrain));
+        NamedCommands.registerCommand("preAim", new preAim(flywheel, pivot, drivetrain));
         NamedCommands.registerCommand("Chase-Pieces",
                 new ChasePieces(drivetrain, collector, indexer, pivot, flywheel, limelights));
         NamedCommands.registerCommand("Smart-Collect",
@@ -351,7 +351,7 @@ protected void configureDefaultCommands() {
         // () -> -coPilot.getRightY(),
         // coPilot::getYButton).deadlineWith(leds.enableState(LED_STATES.CLIMBING)));
 
-        // climber.setDefaultCommand(new ManualClimb(() -> -coPilot.getLeftY(), () -> -coPilot.getRightY(), climber));
+        climber.setDefaultCommand(new ManualClimb(() -> -coPilot.getLeftY(), () -> -coPilot.getRightY(), climber));
     }
 
     protected Command getAutonomousCommand() {

diff --git a/src/main/java/frc/robot/command/shoot/preAim.java b/src/main/java/frc/robot/command/shoot/preAim.java
@@ -4,24 +4,21 @@
 import frc.robot.Constants;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.subsystems.Flywheel;
-import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Pivot;
 import frc.robot.subsystems.Swerve;
 
 public class preAim extends Command {
 
     private Flywheel flywheel;
     private Pivot pivot;
-    private Indexer indexer;
     private Swerve drivetrain;
 
-    public preAim(Flywheel flywheel, Pivot pivot, Indexer indexer, Swerve drivetrain) {
+    public preAim(Flywheel flywheel, Pivot pivot, Swerve drivetrain) {
         this.flywheel = flywheel;
         this.pivot = pivot;
-        this.indexer = indexer;
         this.drivetrain = drivetrain;
 
-        addRequirements(flywheel, pivot, indexer);
+        addRequirements(flywheel, pivot);
     }
 
     @Override
@@ -34,12 +31,6 @@ public void execute() {
         double distance = drivetrain.distanceToSpeaker();
         pivot.setTargetAngle(calculateTargetAngle(distance));
         flywheel.setAllMotorsRPM(calculateTargetRPM(distance));
-        if(indexer.getExitBeamBreakState()) {
-            indexer.indexDown();
-        } else {
-            indexer.stop();
-        }
-
     }
 
     @Override
@@ -59,10 +50,10 @@ public boolean isFinished() {
      * @return Angle to set pivot to
      */
     public double calculateTargetAngle(double distance) {
-        if(Constants.isMercury()){
-			return ShooterConstants.TUBE_ANGLE_MAP.get(distance);
-		}
-		return ShooterConstants.STEALTH_ANGLE_MAP.get(distance);
+        if (Constants.isMercury()) {
+            return ShooterConstants.TUBE_ANGLE_MAP.get(distance);
+        }
+        return ShooterConstants.STEALTH_ANGLE_MAP.get(distance);
     }
 
     /**
@@ -72,9 +63,9 @@ public double calculateTargetAngle(double distance) {
      * @return RPM to set the Flywheels
      */
     public double calculateTargetRPM(double distance) {
-        if(Constants.isMercury()){
-			return ShooterConstants.TUBE_SPEED_MAP.get(distance);
-		}
-		return ShooterConstants.STEALTH_SPEED_MAP.get(distance);
+        if (Constants.isMercury()) {
+            return ShooterConstants.TUBE_SPEED_MAP.get(distance);
+        }
+        return ShooterConstants.STEALTH_SPEED_MAP.get(distance);
     }
 }