Bug Fix

Iron-Panthers · Nov 29, 2023 · a6eab2e · a6eab2e
1 parent 1469066
commit a6eab2e
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Showing 4 changed files with 12 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Commands/AdvancedIntakeSequence.java b/src/main/java/frc/robot/Commands/AdvancedIntakeSequence.java
@@ -16,10 +16,15 @@ public class AdvancedIntakeSequence extends SequentialCommandGroup {
   public AdvancedIntakeSequence(IntakeSubsystem intakeSubsystem, boolean isCone, boolean isIntake) {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
-    if(isIntake){
-      addCommands( new IntakeCommand(intakeSubsystem, isCone, isIntake), new StopIntakeMotorCommand(intakeSubsystem));
-    }else{
-      addCommands( new IntakeCommand(intakeSubsystem, isCone, isIntake).withTimeout(Constants.Intake.UNLOADING_WAIT_TIME), new StopIntakeMotorCommand(intakeSubsystem) );
+    if (isIntake) {
+      addCommands(
+          new IntakeCommand(intakeSubsystem, isCone, isIntake),
+          new StopIntakeMotorCommand(intakeSubsystem));
+    } else {
+      addCommands(
+          new IntakeCommand(intakeSubsystem, isCone, isIntake)
+              .withTimeout(Constants.Intake.UNLOADING_WAIT_TIME),
+          new StopIntakeMotorCommand(intakeSubsystem));
     }
   }
 }
diff --git a/src/main/java/frc/robot/Commands/IntakeCommand.java b/src/main/java/frc/robot/Commands/IntakeCommand.java
@@ -37,7 +37,7 @@ public void initialize() {
       intakeSubsystem.SetMotorPower(Constants.Intake.CUBE_UNLOADING_SPEED);
     }
 
-    //set the object type - used in the stoter currents
+    // set the object type - used in the stoter currents
     intakeSubsystem.SetObjectType(isCone);
   }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -7,8 +7,6 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Commands.AdvancedIntakeSequence;
-import frc.robot.Commands.IntakeCommand;
-import frc.robot.Commands.StopIntakeMotorCommand;
 import frc.robot.Subsystems.IntakeSubsystem;
 
 /**
@@ -68,6 +66,5 @@ private void configureButtonBindings() {
     driverB.leftTrigger().onTrue(new AdvancedIntakeSequence(intakeSubsystem, true, true));
     driverB.rightBumper().onTrue(new AdvancedIntakeSequence(intakeSubsystem, false, false));
     driverB.leftBumper().onTrue(new AdvancedIntakeSequence(intakeSubsystem, true, false));
-
   }
 }
diff --git a/src/main/java/frc/robot/Subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/Subsystems/IntakeSubsystem.java
@@ -53,8 +53,8 @@ public void SetMotorPower(double motorPower) {
     this.motorPower = motorPower;
   }
 
-  //to set the object as either a cone or a cube
-  //to be called in commands alongside of set motor power
+  // to set the object as either a cone or a cube
+  // to be called in commands alongside of set motor power
   public void SetObjectType(boolean isCone) {
     this.isCone = isCone;
   }