changed track target reqs + started extender command

src/main/java/frc4388/robot/commands/RunExtenderOut.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Extender;
+import frc4388.robot.subsystems.Intake;
+
+public class RunExtenderOut extends CommandBase {
+
+  private Intake intake;
+  private Extender extender;
+  private int direction;
+
+  /** Creates a new RunExtenderOut. */
+  public RunExtenderOut(Intake intake, Extender extender) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.intake = intake;
+    this.extender = extender;
+
+    this.direction = 1;
+
+    addRequirements(this.intake, this.extender);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/TrackTarget.java

@@ -23,7 +23,6 @@ import frc4388.utility.DesmosServer;
 public class TrackTarget extends CommandBase {
   /** Creates a new TrackTarget. */
   Turret m_turret;
-  SwerveDrive m_drive;
   VisionOdometry m_visionOdometry;
   BoomBoom m_boomBoom;
   Hood m_hood;
@@ -45,15 +44,14 @@ public class TrackTarget extends CommandBase {
 
   // public static Gains m_aimGains;
 
-  public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, SwerveDrive drive, VisionOdometry visionOdometry) {
+  public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_turret = turret;
-    m_drive = drive;
     m_boomBoom = boomBoom;
     m_hood = hood;
     m_visionOdometry = visionOdometry;
 
-    addRequirements(m_turret, m_boomBoom, m_hood, m_drive, m_visionOdometry);
+    addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry);
   }
 
   // Called when the command is initially scheduled.
@@ -102,6 +100,7 @@ public class TrackTarget extends CommandBase {
     }
     catch (Exception e){
       e.printStackTrace();
+      m_turret.runshooterRotatePID(180);
       // System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
     }
     // vel = m_boomBoom.getVelocity(distance);