Small Changes, formatting

SaintsRobotics · Mar 8, 2024 · 1716fe7 · 1716fe7
1 parent b7f43f8
commit 1716fe7
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Showing 3 changed files with 16 additions and 30 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,11 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -56,7 +54,6 @@ public class RobotContainer {
   private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort);
   private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort);
 
-
   private final SendableChooser<Command> autoChooser;
 
   /**
@@ -65,18 +62,18 @@ public class RobotContainer {
   public RobotContainer() {
     NamedCommands.registerCommand("Shoot",
         new SequentialCommandGroup(
-          new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
-          new ParallelDeadlineGroup(new WaitCommand(2), new NoteOuttakeCommand(m_intakeSubsystem)), 
-          new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off)));
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
+            new ParallelDeadlineGroup(new WaitCommand(2), new NoteOuttakeCommand(m_intakeSubsystem)),
+            new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off)));
 
     NamedCommands.registerCommand("Intake",
-      new SequentialCommandGroup(
-          new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Extended),
-          new NoteIntakeCommand(m_intakeSubsystem),
-          new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
+        new SequentialCommandGroup(
+            new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Extended),
+            new NoteIntakeCommand(m_intakeSubsystem),
+            new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)));
 
-    NamedCommands.registerCommand("Intake in", 
-      new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
+    NamedCommands.registerCommand("Intake in",
+        new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
 
     AutoBuilder.configureHolonomic(m_robotDrive::getPose, m_robotDrive::resetOdometry,
         m_robotDrive::getChassisSpeeds,
@@ -155,11 +152,11 @@ private void configureBindings() {
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
 
     new JoystickButton(m_operatorController, Button.kA.value)
-      .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(),
-      m_climberSubsystem));
+        .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(),
+            m_climberSubsystem));
     new JoystickButton(m_operatorController, Button.kB.value)
-      .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(),
-      m_climberSubsystem));
+        .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(),
+            m_climberSubsystem));
 
     new Trigger(() -> {
       return m_driverController.getLeftTriggerAxis() > 0.5;
@@ -199,7 +196,7 @@ public Command getAutonomousCommand() {
     // var alliance = DriverStation.getAlliance();
     // PathPlannerPath autonPath = path;
     // if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
-    //   autonPath = autonPath.flipPath();
+    // autonPath = autonPath.flipPath();
     // }
     // m_robotDrive.resetOdometry(autonPath.getPreviewStartingHolonomicPose());
 

diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -4,12 +4,11 @@
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kOff;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
-import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.PneumaticHub;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.PneumaticHub;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ClimberConstants;
 

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -8,7 +8,6 @@
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ShooterConstants;
@@ -21,17 +20,12 @@ public class ShooterSubsystem extends SubsystemBase {
   private double m_topSpeed = 0;
   private double m_bottomSpeed = 0;
 
-//   SlewRateLimiter m_topLimiter = new SlewRateLimiter(0.4);
-//  SlewRateLimiter m_bottomLimiter = new SlewRateLimiter(0.4);
-
   public ShooterSubsystem() {
     m_bottom.setIdleMode(IdleMode.kCoast);
     m_top.setIdleMode(IdleMode.kCoast);
 
     m_bottom.setInverted(true);
     m_top.setInverted(true);
-
-    //m_bottom.getEncoder().setPositionConversionFactor();
   }
 
   public void reset() {
@@ -46,15 +40,11 @@ public void setShootingSpeed(ShootSpeed speed) {
     switch (speed) {
       case Shooting:
         m_topSpeed = ShooterConstants.kShooterSpeedTop;
-        // m_topSpeed = m_topLimiter.calculate(m_topSpeed);
         m_bottomSpeed = ShooterConstants.kShooterSpeedBottom;
-        // m_bottomSpeed = m_bottomLimiter.calculate(m_topSpeed);
-        // System.out.println("shoot speed: " + ShooterConstants.kShooterSpeed);
         break;
       case Off:
         m_topSpeed = 0.0;
         m_bottomSpeed = 0.0;
-        // System.out.println("shoot speed: " + 0);
         break;
     }
   }