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Rework Command Constructors to Make Sense

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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
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src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java
+8 -5
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@@ -9,8 +9,10 @@ package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.commands.storage.StoragePrepAim;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -23,12 +25,13 @@ public class ShootPrepGroup extends ParallelCommandGroup {
* @param m_shooterAim The ShooterAim subsystem
* @param m_storage The Storage subsytem
*/
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
addCommands(
//new TrackTarget(m_shooter, m_shooterAim),
//new ShooterVelocityControlPID(m_shooter)
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()))
//new StoragePrepAim(m_storage)
new TrackTarget(m_shooterAim),
new ShooterVelocityControlPID(m_shooter),
new HoodPositionPID(m_shooterHood),
//new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel())),
new StoragePrepAim(m_storage)
);
}
}