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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/ShooterVelocityControlPID.java
+3 -5
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@@ -17,16 +17,14 @@ public class ShooterVelocityControlPID extends CommandBase {
Shooter m_shooter;
double m_targetVel;
double m_actualVel;
private ShooterHood m_shooterHood;
/**
* Runs the drum at a velocity
* @param subsystem The Shooter subsytem
*/
public ShooterVelocityControlPID(Shooter subsystem, ShooterHood subHood) {
public ShooterVelocityControlPID(Shooter subsystem) {
m_shooter = subsystem;
m_shooterHood = subHood;
addRequirements(m_shooter, m_shooterHood);
addRequirements(m_shooter);
}
// Called when the command is initially scheduled.
@@ -39,7 +37,7 @@ public class ShooterVelocityControlPID extends CommandBase {
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
//m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
//SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
//SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
}