used suppliers

.vscode/settings.json

@@ -26,5 +26,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.debug.settings.onBuildFailureProceed": true
 }

simgui-ds.json

@@ -88,5 +88,26 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    }
   ]
 }

src/main/java/frc/robot/Robot.java

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -57,7 +58,6 @@ public void disabledPeriodic() {}
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();

src/main/java/frc/robot/RobotContainer.java

@@ -23,7 +23,7 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   public static final XRPDrivetrain m_xrpDrivetrain = new XRPDrivetrain();
   public static final Servo m_servo = new Servo();
-  private final CommandXboxController m_controller = new CommandXboxController(0);
+  public final CommandXboxController m_controller = new CommandXboxController(0);
 
 
 
@@ -33,7 +33,9 @@ public RobotContainer() {
     configureButtonBindings();
     //The default command is the command that executes if no other command is using the specified subsystem.
     //This causes the xrp to drive based on the left joystick y and right joystick x of the controller by default.
-    m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(m_controller.getLeftY(), m_controller.getRightX()));
+    //It uses lambdas to make the parameters suppliers, which means that instead of them being constant, they rerun each time the command is scheduled.
+    //The values are negated because the axes are flipped for some reason.
+    m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(()-> -m_controller.getLeftY(), () -> -m_controller.getRightX()));
     //TODO: Task 4-Comment out the above line by adding // to the left of it. Then, set the default command to be your tankDriveCommand.
     //HINT: In tank drive, the left wheel is controlled by the y axis of the left joystick and the y axis of the right joystick.
   }

src/main/java/frc/robot/commands/DriveCommands.java

@@ -7,6 +7,9 @@
 import frc.robot.Robot;
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.XRPDrivetrain;
+
+import java.util.function.Supplier;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -121,17 +124,21 @@ public boolean isFinished() {
 
   /**
    * A command that sets the speed of the robot based on an arcade control scheme, using an Instant Command.
-   * @param forwardSpeed Speed the robot goes forward.
-   * @param turnSpeed Speed the robot turns.
+   * Because this value is something that changes based on controller input, we want the values to be rechecked periodically.
+   * For this, we use what is called a supplier, which is any function which returns a double.
+   * By using a supplier, instead of the drive speed being a constant 0, the command instead runs the supplier each time it runs to determine the correct speed.
+   * @param forwardSpeed Speed the robot goes forward. Is a supplier, and therefore must be a method or a lambda.
+   * @param turnSpeed Speed the robot turns. Is a supplier, and therefore must be a method or a lambda.
    * @return Command to arcade drive the XRP
    */
-  public static Command arcadeDriveCommand(double forwardSpeed, double turnSpeed){
+  public static Command arcadeDriveCommand(Supplier<Double> forwardSpeed, Supplier<Double> turnSpeed){
+    System.out.println("runs");
     //This uses an InstantCommand, which shouldn't be a class. An Instant Command immediately executes, and only takes in fields for what it should do
     //and the required subsystems.
     //Useful for simple commands.
     return new InstantCommand(
-      //Tells the XRP to drive at the given speeds
-      ()->RobotContainer.m_xrpDrivetrain.arcadeDrive(forwardSpeed, turnSpeed), 
+      //Tells the XRP to drive at the given speeds by using .get(), which gets the value returned by the supplier
+      ()->RobotContainer.m_xrpDrivetrain.arcadeDrive(forwardSpeed.get(), turnSpeed.get()), 
       RobotContainer.m_xrpDrivetrain
       );
   }