name changes

src/main/java/frc/robot/Commands/ElevatorBaseCommand.java

@@ -2,58 +2,47 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+package frc.robot.commands;
 
-package frc.robot.Commands;
-
-
-import frc.Subsystems.ElevatorSubsystem;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-
+import frc.robot.subsystems.ElevatorSubsystem;
 
 /** An example command that uses an example subsystem. */
 public class ElevatorBaseCommand extends CommandBase {
- @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
- private final ElevatorSubsystem elevatorSubsystem;
-public double targetHeight;
-
-
- /**
-  * Creates a new ExampleCommand.
-  *
-  * @param subsystem The subsystem used by this command.
-  */
- public ElevatorBaseCommand(ElevatorSubsystem elevatorSubsystem, double targetHeight) {
-   this.targetHeight = targetHeight;
-   this.elevatorSubsystem = elevatorSubsystem;
-   // Use addRequirements() here to declare subsystem dependencies.
-   addRequirements(elevatorSubsystem);
- }
-
-
- // Called when the command is initially scheduled.
- @Override
- public void initialize() {
-   elevatorSubsystem.setTargetHeight(targetHeight);
-
-
-
-
- }
-
-
- // Called every time the scheduler runs while the command is scheduled.
- @Override
- public void execute() {}
-
-
- // Called once the command ends or is interrupted.
- @Override
- public void end(boolean interrupted) {}
-
-
- // Returns true when the command should end.
- @Override
- public boolean isFinished() {
-   return elevatorSubsystem.nearTargetHeight();
- }
-}
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final ElevatorSubsystem elevatorSubsystem;
+
+  public double targetHeight;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ElevatorBaseCommand(ElevatorSubsystem elevatorSubsystem, double targetHeight) {
+    this.targetHeight = targetHeight;
+    this.elevatorSubsystem = elevatorSubsystem;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(elevatorSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    elevatorSubsystem.setTargetHeight(targetHeight);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevatorSubsystem.nearTargetHeight();
+  }
+}

src/main/java/frc/robot/Commands/SequentialCommands.java

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.subsystems.WristSubsystem;
+
+public class SequentialCommands extends SequentialCommandGroup {
+  /** Creates a new TestCommand. */
+  public SequentialCommands(WristSubsystem wristSubsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addCommands(
+        new WristCommand(wristSubsystem, 0),
+        new WristCommand(wristSubsystem, 20),
+        new WristCommand(wristSubsystem, 40));
+  }
+
+  // // Called when the command is initially scheduled.
+  // @Override
+  // public void initialize() {}
+
+  // // Called every time the scheduler runs while the command is scheduled.
+  // @Override
+  // public void execute() {}
+
+  // // Called once the command ends or is interrupted.
+  // @Override
+  // public void end(boolean interrupted) {}
+
+  // // Returns true when the command should end.
+  // @Override
+  // public boolean isFinished() {
+  //   return false;
+  // }
+}

src/main/java/frc/robot/Commands/WristCommand.java

@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.WristSubsystem;
+
+public class WristCommand extends CommandBase {
+  /** Creates a new WristCommand. */
+  private final WristSubsystem wristSubsystem;
+
+  private double targetAngle;
+
+  public WristCommand(WristSubsystem wristSubsystem, double targetAngle) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.wristSubsystem = wristSubsystem;
+    this.targetAngle = targetAngle;
+
+    addRequirements(wristSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    // sets target angle
+    wristSubsystem.setTargetAngle(targetAngle);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return wristSubsystem.nearTargetAngle();
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -2,30 +2,28 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-
 package frc.robot;
 
-
 @SuppressWarnings("java:S1118")
 /**
-* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
-* constants. This class should not be used for any other purpose. All constants should be declared
-* globally (i.e. public static). Do not put anything functional in this class.
-*
-* <p>It is advised to statically import this class (or one of its inner classes) wherever the
-* constants are needed, to reduce verbosity.
-*/
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be declared
+ * globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
 public final class Constants {
-   public static class OperatorConstants {
-       public static final int kDriverControllerPort = 0;
-     }
-     public static class Elevator{
-       /**the gear ratio of the motor to the final gear revolutions */
-       public static final double GEAR_RATIO = 0.1008;
-       /**The number of ticks per motor revolution */
-       public static final double TICKS_PER_REVOLUTION = 2048;
-       /**The gear circumferance for distance */
-       public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI;
-
+  public static class OperatorConstants {
+    public static final int kDriverControllerPort = 0;
+  }
+
+  public static class Elevator {
+    /** the gear ratio of the motor to the final gear revolutions */
+    public static final double GEAR_RATIO = 0.1008;
+    /** The number of ticks per motor revolution */
+    public static final double TICKS_PER_REVOLUTION = 2048;
+    /** The gear circumferance for distance */
+    public static final double GEAR_CIRCUMFERENCE = 1.432 * Math.PI;
+  }
 }
-}