fix bugs

team581 · Sep 14, 2024 · 846915b · 846915b
1 parent 485f170
commit 846915b
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Showing 3 changed files with 4 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/intake/IntakeSubsystem.java b/src/main/java/frc/robot/intake/IntakeSubsystem.java
@@ -3,15 +3,13 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.CANSparkMax;
 import dev.doglog.DogLog;
-import edu.wpi.first.math.filter.Debouncer;
 import frc.robot.config.RobotConfig;
 import frc.robot.util.scheduling.SubsystemPriority;
 import frc.robot.util.state_machines.StateMachine;
 
 public class IntakeSubsystem extends StateMachine<IntakeState> {
   private final TalonFX mainMotor;
   private final CANSparkMax centeringMotor;
-  private final Debouncer debouncer = RobotConfig.get().intake().debouncer();
 
   public IntakeSubsystem(TalonFX mainMotor, CANSparkMax centeringMotor) {
     super(SubsystemPriority.INTAKE, IntakeState.IDLE);

diff --git a/src/main/java/frc/robot/queuer/QueuerSubsystem.java b/src/main/java/frc/robot/queuer/QueuerSubsystem.java
@@ -16,7 +16,7 @@ public class QueuerSubsystem extends StateMachine<QueuerState> {
   private final Debouncer debouncer = RobotConfig.get().queuer().debouncer();
 
   public QueuerSubsystem(TalonFX motor, DigitalInput sensor) {
-    super(SubsystemPriority.QUEUER, queuer.setState(QueuerState.IDLE));
+    super(SubsystemPriority.QUEUER, QueuerState.IDLE);
 
     this.sensor = sensor;
     this.motor = motor;

diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -165,19 +165,19 @@ protected void afterTransition(RobotState newState) {
         arm.setState(ArmState.CLIMBING_1_LINEUP);
         shooter.setState(ShooterState.IDLE_STOPPED);
         intake.setState(IntakeState.IDLE);
-        queuer.setState(queuer.setState(QueuerState.IDLE));
+        queuer.setState(QueuerState.IDLE);
       }
       case CLIMBING_2_HANGING -> {
         arm.setState(ArmState.CLIMBING_2_HANGING);
         shooter.setState(ShooterState.IDLE_STOPPED);
         intake.setState(IntakeState.IDLE);
-        queuer.setState(queuer.setState(QueuerState.IDLE));
+        queuer.setState(QueuerState.IDLE);
       }
       case IDLE_NO_GP -> {
         arm.setState(ArmState.IDLE);
         shooter.setState(ShooterState.IDLE_STOPPED);
         intake.setState(IntakeState.IDLE);
-        queuer.setState(queuer.setState(QueuerState.IDLE));
+        queuer.setState(QueuerState.IDLE);
       }
       case IDLE_WITH_GP -> {
         arm.setState(ArmState.IDLE);