changed parameters for AimShooter and deleted unused variables

2491-NoMythic · Feb 2, 2024 · 5512db9 · 5512db9
1 parent ba4d296
commit 5512db9
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Showing 4 changed files with 9 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -107,6 +107,7 @@ public class RobotContainer {
   private Pigeon2 pigeon;
   private IndexCommand defaulNoteHandlingCommand;
   private IndexerSubsystem indexer;
+  private AimShooter defaultShooterAngleCommand;
   private SendableChooser<String> climbSpotChooser;
   private SendableChooser<Command> autoChooser;
   // Replace with CommandPS4Controller or CommandJoystick if needed
@@ -170,7 +171,8 @@ private void shooterInst() {
     shooter = new ShooterSubsystem(ShooterConstants.SHOOTER_MOTOR_POWER);
     shooter.setDefaultCommand(defaulNoteHandlingCommand);
     angleShooterSubsystem = new AngleShooterSubsystem();
-    angleShooterSubsystem.setDefaultCommand(new AimShooter(angleShooterSubsystem, ()-> (operatorController.getPOV() == 0)));
+    defaultShooterAngleCommand = new AimShooter(angleShooterSubsystem, operatorController::getPOV);
+    angleShooterSubsystem.setDefaultCommand(defaultShooterAngleCommand);
   }
   private void intakeInst() {
     intake = new IntakeSubsystem();

diff --git a/src/main/java/frc/robot/commands/AimShooter.java b/src/main/java/frc/robot/commands/AimShooter.java
@@ -1,6 +1,7 @@
 package frc.robot.commands;
 
 import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.settings.Constants.Field;
@@ -9,11 +10,11 @@
 
 public class AimShooter extends Command {
 	AngleShooterSubsystem angleShooterSubsystem;
-	BooleanSupplier aimAtAmp;
+	DoubleSupplier aimAtAmpSupplier;
 
-	public AimShooter(AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier aimAtAmp) {
+	public AimShooter(AngleShooterSubsystem angleShooterSubsystem, DoubleSupplier aimAtAmp) {
 		this.angleShooterSubsystem = angleShooterSubsystem;
-		this.aimAtAmp = aimAtAmp;
+		this.aimAtAmpSupplier = aimAtAmp;
 	}
 
 	@Override
@@ -23,7 +24,7 @@ public void initialize() {
 
 	@Override
 	public void execute() {
-		if (!aimAtAmp.getAsBoolean()) {
+		if (!(aimAtAmpSupplier.getAsDouble() == 0)) {
 			double desiredShooterAngleSpeed = angleShooterSubsystem.calculateSpeakerAngleDifference() * ShooterConstants.AUTO_AIM_SHOOTER_kP;
 			angleShooterSubsystem.pitchShooter(desiredShooterAngleSpeed);
 		} else {

diff --git a/src/main/java/frc/robot/commands/AngleShooter.java b/src/main/java/frc/robot/commands/AngleShooter.java
@@ -26,7 +26,6 @@ public AngleShooter(AngleShooterSubsystem shooter, DoubleSupplier desiredShooter
     // Use addRequirements() here to declare subsystem dependencies.\
     m_shooter = shooter;
     this.desiredShooterAngleSupplier = desiredShooterAngleSupplier;
-    this.desiredShooterAngle = desiredShooterAngle;
     addRequirements(shooter);
   }
 

diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -66,7 +66,7 @@ public void execute() {
     }
     if (shootIfReadySupplier.getAsBoolean()) {
       if((angleShooterSubsytem.calculateSpeakerAngleDifference()<ShooterConstants.ALLOWED_ERROR)
-        && (drivetrain.getSpeakerAngleDifference())<DriveConstants.ALLOWED_ERROR
+        && drivetrain.getSpeakerAngleDifference()<DriveConstants.ALLOWED_ERROR
         && Math.abs(shooter.getError())<ShooterConstants.ALLOWED_SPEED_ERROR) {
           m_Indexer.on();
       } else {