fixed errors

hammerhead226 · Apr 11, 2024 · 5ce2f3b · 5ce2f3b
1 parent f287239
commit 5ce2f3b
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Showing 5 changed files with 4 additions and 27 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -130,8 +130,6 @@ public static class PivotConstants {
     public static final double CLIMB_SETPOINT_ONE_DEG = 50;
     public static final double CLIMB_SETPOINT_TWO_DEG = 95;
 
-    public static final double TRAP_SETPOINT_DEG = 75;
-
     public static final double THRESHOLD = 1.5;
 
     public static final double[] PID = {0, 0, 0};

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -136,8 +136,6 @@ private boolean isAimbot() {
 
     private Command goBackClimbCommands;
 
-    private final Command intakeReleaseCommands;
-
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -248,26 +246,6 @@ public RobotContainer() {
         // led))),
         // this::isAutoAlign);
 
-        intakeReleaseCommands = new SelectCommand<>(
-                Map.ofEntries(
-                        Map.entry(
-                                false,
-                                new InstantCommand(() -> led.setState(LED_STATE.BLUE))
-                                        .andThen(new InstantCommand(shooter::stopFeeders))
-                                        .andThen(
-                                                new SetPivotTarget(Constants.PivotConstants.STOW_SETPOINT_DEG, pivot))),
-                        Map.entry(
-                                true,
-                                new InstantCommand(() -> led.setState(LED_STATE.BLUE))
-                                        .andThen(
-                                                new InstantCommand(() -> shooter.setFeedersRPM(500))
-                                                        .andThen(new WaitCommand(0.15))
-                                                        .andThen(new InstantCommand(shooter::stopFeeders)))
-                                        .andThen(
-                                                new SetPivotTarget(
-                                                        Constants.PivotConstants.STOW_SETPOINT_DEG, pivot)))),
-                shooter::inTimeThreshold);
-
         shootCommands = new SelectCommand<>(
                 Map.ofEntries(
                         Map.entry(false, new InstantCommand(() -> shooter.setFeedersRPM(1000))),

diff --git a/src/main/java/frc/robot/commands/AlignToNoteTele.java b/src/main/java/frc/robot/commands/AlignToNoteTele.java
@@ -54,7 +54,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (shooter.seesNote()) {
+    if (shooter.seesNote() == NoteState.CURRENT || shooter.seesNote() == NoteState.SENSOR) {
       end(true);
     }
     pathCommand.execute();

diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -27,6 +27,7 @@
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Constants.LED_STATE;
+import frc.robot.Constants.NoteState;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.intake.Intake;
 import frc.robot.subsystems.led.LED;
@@ -50,7 +51,7 @@ public static Command intakeCommand(
       DoubleSupplier ySupplier,
       DoubleSupplier omegaSupplier) {
 
-    if (shooter.seesNote()) {
+    if (shooter.seesNote() == NoteState.CURRENT || shooter.seesNote() == NoteState.SENSOR) {
       return joystickDrive(drive, xSupplier, ySupplier, omegaSupplier);
     } else {
 

diff --git a/src/main/java/frc/robot/commands/IntakeNote.java b/src/main/java/frc/robot/commands/IntakeNote.java
@@ -36,7 +36,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (shooter.seesNote()) end(true);
+    if (shooter.seesNote() == NoteState.CURRENT || shooter.seesNote() == NoteState.SENSOR) end(true);
   }
 
   // Called once the command ends or is interrupted.