Make it more similar to GOS version

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

@@ -14,7 +14,6 @@
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-@SuppressWarnings("PMD.TooManyMethods")
 public class Robot extends TimedRobot {
     private Command m_autonomousCommand;
 
@@ -26,7 +25,7 @@ public class Robot extends TimedRobot {
      */
     @Override
     public void robotInit() {
-        // Instantiate our RobotContainer.    This will perform all our button bindings, and put our
+        // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
         // autonomous chooser on the dashboard.
         m_robotContainer = new RobotContainer();
     }
@@ -40,9 +39,9 @@ public void robotInit() {
      */
     @Override
     public void robotPeriodic() {
-        // Runs the Scheduler.    This is responsible for polling buttons, adding newly-scheduled
+        // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
         // commands, running already-scheduled commands, removing finished or interrupted commands,
-        // and running subsystem periodic() methods.    This must be called from the robot's periodic
+        // and running subsystem periodic() methods.  This must be called from the robot's periodic
         // block in order for anything in the Command-based framework to work.
         CommandScheduler.getInstance().run();
     }
@@ -101,25 +100,4 @@ public void testInit() {
         // Cancels all running commands at the start of test mode.
         CommandScheduler.getInstance().cancelAll();
     }
-
-    /**
-     * This function is called periodically during test mode.
-     */
-    @Override
-    public void testPeriodic() {
-    }
-
-    /**
-     * This function is called once when the robot is first started up.
-     */
-    @Override
-    public void simulationInit() {
-    }
-
-    /**
-     * This function is called periodically whilst in simulation.
-     */
-    @Override
-    public void simulationPeriodic() {
-    }
 }

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

@@ -4,15 +4,30 @@
 
 package frc.robot;
 
+import frc.robot.commands.ClimberCommand;
+import frc.robot.commands.DriveCommand;
+import frc.robot.commands.HopperCommand;
+import frc.robot.commands.KickIfShootSetRPMCommand;
+import frc.robot.commands.RunIntakeCommand;
+import frc.robot.commands.SetShooterSpeedCommand;
+import frc.robot.commands.StopIntakeCommand;
+import frc.robot.commands.ShootFromDistanceCommand;
+import frc.robot.commands.TowerDownCommand;
+import frc.robot.commands.TowerUpCommand;
+import frc.robot.subsystems.ClimberSubsystem;
+import frc.robot.subsystems.DrivetrainSubsystem;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.LimelightSubsystem;
+import frc.robot.subsystems.ShooterSubsytem;
+import frc.robot.subsystems.TowerSubsystem;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.autos.AutonomousFactory;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.autos.AutonomousFactory;
-import frc.robot.commands.*;
-import frc.robot.subsystems.*;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a

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

@@ -6,14 +6,13 @@
 
 import com.gos.lib.properties.PidProperty;
 import com.gos.lib.properties.WpiProfiledPidPropertyBuilder;
-
+import frc.robot.Constants;
+import frc.robot.subsystems.DrivetrainSubsystem;
+import frc.robot.subsystems.LimelightSubsystem;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.Constants;
-import frc.robot.subsystems.DrivetrainSubsystem;
-import frc.robot.subsystems.LimelightSubsystem;
 
 /**
  * An example command that uses an example subsystem.
@@ -22,31 +21,29 @@ public class AutoAimCommand extends CommandBase {
     private final DrivetrainSubsystem m_driveTrainSubsystem;
     private final LimelightSubsystem m_limelightSubsystem;
     private final ProfiledPIDController m_controller;
-    private final PidProperty m_pidProperty;
+    private final PidProperty m_pidProperties;
 
     /**
      * Creates a new AutoAimCommand.
      *
      * @param subsystem The subsystem used by this command.
      */
     public AutoAimCommand(
-            DrivetrainSubsystem driveTrainSubsystem, LimelightSubsystem limelightSubsystem) {
+        DrivetrainSubsystem driveTrainSubsystem, LimelightSubsystem limelightSubsystem) {
         m_driveTrainSubsystem = driveTrainSubsystem;
         m_limelightSubsystem = limelightSubsystem;
         m_controller =
-                new ProfiledPIDController(
-                        0,
-                        0,
-                        0,
-                        new TrapezoidProfile.Constraints(
-                                Constants.MAX_TURN_VELOCITY, Constants.MAX_TURN_ACCELERATION));
-        m_pidProperty = new WpiProfiledPidPropertyBuilder("AutoAim", false, m_controller)
-                .addP(0)
-                .addI(0)
-                .addD(0)
-                .addMaxVelocity(Constants.MAX_TURN_VELOCITY)
-                .addMaxAcceleration(Constants.MAX_TURN_ACCELERATION)
-                .build();
+            new ProfiledPIDController(
+                0,
+                0,
+                0,
+                new TrapezoidProfile.Constraints(
+                    Constants.MAX_TURN_VELOCITY, Constants.MAX_TURN_ACCELERATION));
+        m_pidProperties = new WpiProfiledPidPropertyBuilder("AutoAim", false, m_controller)
+            .addP(0)
+            .addI(0)
+            .addD(0)
+            .build();
         m_controller.setTolerance(5);
         // Use addRequirements() here to declare subsystem dependencies.
         addRequirements(driveTrainSubsystem);
@@ -61,7 +58,8 @@ public void initialize() {
     // Called every time the scheduler runs while the command is scheduled.
     @Override
     public void execute() {
-        m_pidProperty.updateIfChanged();
+        m_pidProperties.updateIfChanged();
+
         double turnSpeed = m_controller.calculate(m_limelightSubsystem.limelightAngle());
         ChassisSpeeds chassisSpeed = new ChassisSpeeds(0, 0, turnSpeed);
         m_driveTrainSubsystem.applyChassisSpeed(chassisSpeed);

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

@@ -1,7 +1,7 @@
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ClimberSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.

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

@@ -1,7 +1,7 @@
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ClimberSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class ClimbPIDComand extends CommandBase {
     private final ClimberSubsystem m_climberSubsystem;
@@ -24,13 +24,13 @@ public void execute() {
 
     @Override
     public boolean isFinished() {
-        return Math.abs(m_climberSubsystem.getPIDPosition()) < 100
-                || (m_climberSubsystem.leftLimitSwitchPress()
-                || m_climberSubsystem.rightLimitSwitchPress());
+        return Math.abs(m_climberSubsystem.getPIDPosition()) < 100 || (m_climberSubsystem.leftLimitSwitchPress() || m_climberSubsystem.rightLimitSwitchPress());
     }
 
     @Override
     public void end(boolean interrupted) {
         m_climberSubsystem.set(0);
     }
+
+
 }

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

@@ -4,8 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ClimberSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.

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

@@ -4,9 +4,9 @@
 
 package frc.robot.commands;
 
+import frc.robot.subsystems.DrivetrainSubsystem;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.subsystems.DrivetrainSubsystem;
 
 /**
  * An example command that uses an example subsystem.
@@ -37,7 +37,7 @@ public void initialize() {
     // Called every time the scheduler runs while the command is scheduled.
     @Override
     public void execute() {
-        m_subsystem.control(-0.5 * m_joystick.getLeftY(), 0.5 * m_joystick.getRightX());
+        m_subsystem.control(-m_joystick.getLeftY(), m_joystick.getRightX());
     }
 
     // Called once the command ends or is interrupted.

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

@@ -4,8 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.HopperSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.

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

@@ -1,9 +1,9 @@
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ShooterSubsytem;
 import frc.robot.subsystems.TowerSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.
@@ -43,8 +43,7 @@ public void execute() {
             m_towerSubsystem.setKickerSpeed(1);
             m_towerSubsystem.setTowerSpeed(0.75);
         }
-        SmartDashboard.putBoolean(
-                "kickIfShootRPM atSpeed", m_shooterSubsystem.checkAtSpeed(m_rpm));
+        SmartDashboard.putBoolean("kickIfShootRPM atSpeed", m_shooterSubsystem.checkAtSpeed(m_rpm));
     }
 
     // Called once the command ends or is interrupted.

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

@@ -1,11 +1,11 @@
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.ShooterLookupTable;
 import frc.robot.subsystems.LimelightSubsystem;
 import frc.robot.subsystems.ShooterSubsytem;
 import frc.robot.subsystems.TowerSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.
@@ -24,10 +24,10 @@ public class KickIfShooterDistanceGoBrrCommand extends CommandBase {
      * @param subsystem The subsystem used by this command.
      */
     public KickIfShooterDistanceGoBrrCommand(
-            ShooterSubsytem subsystem,
-            TowerSubsystem towerSubsystem,
-            LimelightSubsystem limelightSubsystem,
-            ShooterLookupTable shooterLookupTable) {
+        ShooterSubsytem subsystem,
+        TowerSubsystem towerSubsystem,
+        LimelightSubsystem limelightSubsystem,
+        ShooterLookupTable shooterLookupTable) {
         m_shooterSubsystem = subsystem;
         m_towerSubsystem = towerSubsystem;
         m_limelightSubsystem = limelightSubsystem;
@@ -52,9 +52,8 @@ public void execute() {
             m_towerSubsystem.setKickerSpeed(1);
             m_towerSubsystem.setTowerSpeed(0.75);
         }
-        SmartDashboard.putBoolean(
-                "kickIfShootDist atSpeed",
-                m_shooterSubsystem.checkAtSpeed(m_shooterLookupTable.getRpmTable(distance)));
+        SmartDashboard.putBoolean("kickIfShootDist atSpeed", m_shooterSubsystem.checkAtSpeed(m_shooterLookupTable.getRpmTable(distance)));
+
     }
 
     // Called once the command ends or is interrupted.
@@ -68,6 +67,6 @@ public void end(boolean interrupted) {
     @Override
     public boolean isFinished() {
         return m_shooterSubsystem.checkAtSpeed(
-                m_shooterLookupTable.getRpmTable(m_limelightSubsystem.limelightDistance()));
+            m_shooterLookupTable.getRpmTable(m_limelightSubsystem.limelightDistance()));
     }
 }

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

@@ -4,8 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ClimberSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.

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

@@ -4,9 +4,9 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.HopperSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.TowerSubsystem;
 
 /**
@@ -27,12 +27,7 @@ public class RunIntakeCommand extends CommandBase {
      *
      * @param subsystem The subsystem used by this command.
      */
-    public RunIntakeCommand(
-            IntakeSubsystem intakeSubsystem,
-            double intakeSpeed,
-            HopperSubsystem hopperSubsystem,
-            TowerSubsystem towerSubsystem,
-            double towerSpeed) {
+    public RunIntakeCommand(IntakeSubsystem intakeSubsystem, double intakeSpeed, HopperSubsystem hopperSubsystem, TowerSubsystem towerSubsystem, double towerSpeed) {
         m_intakeSubsystem = intakeSubsystem;
         m_hopperSubsystem = hopperSubsystem;
         m_towerSubsystem = towerSubsystem;

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

@@ -4,8 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.ShooterSubsytem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.

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

@@ -1,9 +1,9 @@
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.ShooterLookupTable;
 import frc.robot.subsystems.LimelightSubsystem;
 import frc.robot.subsystems.ShooterSubsytem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
 /**
  * An example command that uses an example subsystem.
@@ -21,9 +21,9 @@ public class ShootFromDistanceCommand extends CommandBase {
      * @param subsystem The subsystem used by this command.
      */
     public ShootFromDistanceCommand(
-            ShooterSubsytem subsystem,
-            LimelightSubsystem limelightsubsystem,
-            ShooterLookupTable shooterLookupTable) {
+        ShooterSubsytem subsystem,
+        LimelightSubsystem limelightsubsystem,
+        ShooterLookupTable shooterLookupTable) {
         m_shooterSubsystem = subsystem;
         m_limelightSubsystem = limelightsubsystem;
         m_shooterLookupTable = shooterLookupTable;
@@ -52,6 +52,6 @@ public void end(boolean interrupted) {
     @Override
     public boolean isFinished() {
         return m_shooterSubsystem.checkAtSpeed(
-                m_shooterLookupTable.getRpmTable(m_limelightSubsystem.limelightDistance()));
+            m_shooterLookupTable.getRpmTable(m_limelightSubsystem.limelightDistance()));
     }
 }