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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/TrackTarget.java
+5 -4
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@@ -19,9 +19,11 @@ import frc4388.utility.controller.IHandController;
public class TrackTarget extends CommandBase {
// Setup
NetworkTableEntry xEntry;
ShooterAim m_shooterAim;
Shooter m_shooter;
ShooterHood m_shooterHood;
NetworkTableEntry xEntry;
IHandController m_driverController;
// Aiming
double turnAmount = 0;
@@ -34,16 +36,15 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
private ShooterHood m_shooterHood;
/**
* Uses the Limelight to track the target
* @param shooterSubsystem The Shooter subsystem
* @param aimSubsystem The ShooterAim subsystem
*/
public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
public TrackTarget(ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
m_shooter = m_shooterAim.m_shooterSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);