Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Rework Command Constructors to Make Sense

Browse Source 
Subsystems passed through the command are requirements, while subsystems gotten from other subsystems in the constructor are for reference only.
This commit is contained in:
Keenan D. Buckley
2020-03-03 00:12:38 -07:00
parent 8f6578a47b
commit 1b603d4f5d
8 changed files with 32 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java
+4 -5
View File
@@ -25,13 +25,12 @@ public class ShootFireGroup extends ParallelRaceGroup {
* @param m_shooterAim The ShooterAim subsystem
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
ShooterHood m_shooterHood = m_shooter.m_shooterHoodSubsystem;
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel())),
new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim),
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()), m_shooter),
new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle()), m_shooterHood),
new HoldTarget(m_shooterAim),
new StorageRun(m_storage)
);
}