Adding totes counter to stacker.sequences

frc3316 · Sep 28, 2015 · 37ea058 · 37ea058
1 parent 8eb338b
commit 37ea058
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Showing 6 changed files with 12 additions and 15 deletions.
diff --git a/src/org/usfirst/frc/team3316/robot/rollerGripper/commands/WaitForGamePiece.java b/src/org/usfirst/frc/team3316/robot/rollerGripper/commands/WaitForGamePiece.java
@@ -45,8 +45,6 @@ protected void execute()
 
 	protected boolean isFinished()
 	{
-		GamePieceCollected gp = Robot.rollerGripper.getGamePieceCollected();
-
 		if (Robot.rollerGripper.getSwitchGamePiece())
 		{
 			finishCounter++;

diff --git a/src/org/usfirst/frc/team3316/robot/sequences/AutoTotePickup.java b/src/org/usfirst/frc/team3316/robot/sequences/AutoTotePickup.java
@@ -4,9 +4,7 @@
 import org.usfirst.frc.team3316.robot.logger.DBugLogger;
 import org.usfirst.frc.team3316.robot.rollerGripper.commands.WaitForGamePiece;
 import org.usfirst.frc.team3316.robot.stacker.commands.MoveStackerToFloor;
-import org.usfirst.frc.team3316.robot.stacker.commands.MoveStackerToStep;
 import org.usfirst.frc.team3316.robot.stacker.commands.MoveStackerToTote;
-import org.usfirst.frc.team3316.robot.stacker.commands.OpenGripper;
 
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.CommandGroup;

diff --git a/src/org/usfirst/frc/team3316/robot/sequences/DropoffSequence.java b/src/org/usfirst/frc/team3316/robot/sequences/DropoffSequence.java
@@ -1,10 +1,10 @@
 package org.usfirst.frc.team3316.robot.sequences;
 
 import org.usfirst.frc.team3316.robot.Robot;
-import org.usfirst.frc.team3316.robot.chassis.commands.RobotOrientedNavigation;
 import org.usfirst.frc.team3316.robot.logger.DBugLogger;
-import org.usfirst.frc.team3316.robot.stacker.commands.CloseGripper;
+import org.usfirst.frc.team3316.robot.stacker.commands.OpenGripper;
 import org.usfirst.frc.team3316.robot.stacker.commands.MoveStackerToFloor;
+import org.usfirst.frc.team3316.robot.utils.StackerPosition;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
@@ -16,8 +16,7 @@ public class DropoffSequence extends CommandGroup
     public DropoffSequence() 
     {
     	addSequential(new MoveStackerToFloor());
-    	addSequential(new CloseGripper());
-    	addSequential(new RobotOrientedNavigation(0, -1, 0, 1));
+    	addSequential(new OpenGripper());
     }
 
     DBugLogger logger = Robot.logger;
@@ -30,10 +29,15 @@ protected void initialize ()
     protected void end ()
     {
     	logger.info(this.getName() + " end");
+    	Robot.stacker.totesCollected = 0;
     }
 
     protected void interrupted ()
     {
     	logger.info(this.getName() + " interrupted");
+    	if (Robot.stacker.getPosition() == StackerPosition.Floor)
+    	{
+        	Robot.stacker.totesCollected = 0;
+    	}
     }
 }
diff --git a/src/org/usfirst/frc/team3316/robot/sequences/SweepContainerSequence.java b/src/org/usfirst/frc/team3316/robot/sequences/SweepContainerSequence.java
@@ -1,10 +1,7 @@
 package org.usfirst.frc.team3316.robot.sequences;
 
 import org.usfirst.frc.team3316.robot.Robot;
-import org.usfirst.frc.team3316.robot.chassis.commands.FieldOrientedNavigation;
-import org.usfirst.frc.team3316.robot.chassis.commands.RobotOrientedNavigation;
 import org.usfirst.frc.team3316.robot.logger.DBugLogger;
-import org.usfirst.frc.team3316.robot.rollerGripper.commands.RollOut;
 import org.usfirst.frc.team3316.robot.stacker.commands.CloseGripper;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;

diff --git a/src/org/usfirst/frc/team3316/robot/stacker/commands/MoveStacker.java b/src/org/usfirst/frc/team3316/robot/stacker/commands/MoveStacker.java
@@ -101,16 +101,16 @@ protected boolean isFinished()
 	protected void end()
 	{
 		logger.fine(this.getName() + " end");
-		_end();
+		__end();
 	}
 
 	protected void interrupted()
 	{
 		logger.fine(this.getName() + " interrupted");
-		_end();
+		__end();
 	}
 
-	private void _end()
+	private void __end()
 	{
 		pidHeight.reset();
 		Robot.stacker.setMotors(0);

diff --git a/src/org/usfirst/frc/team3316/robot/subsystems/Stacker.java b/src/org/usfirst/frc/team3316/robot/subsystems/Stacker.java
@@ -383,5 +383,5 @@ private void updateStackerHeights()
 		{
 			logger.severe(e);
 		}
-	}
+	}	
 }