From 6c8a1dffb37ce51e62ee3e26a77e44de3607066f Mon Sep 17 00:00:00 2001
From: Rishabh <57200@psdschools.org>
Date: Sat, 22 Feb 2020 12:06:14 -0700
Subject: [PATCH 1/2] test

---
 .../robot/commands/ShootFireGroup.java        | 14 +++++-
 .../robot/commands/StoragePositionPID.java    | 46 +++++++++++++++++++
 2 files changed, 58 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/StoragePositionPID.java

diff --git a/src/main/java/frc4388/robot/commands/ShootFireGroup.java b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
index 155e384..cd78283 100644
--- a/src/main/java/frc4388/robot/commands/ShootFireGroup.java
+++ b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
@@ -8,6 +8,10 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.Storage;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
@@ -16,9 +20,15 @@ public class ShootFireGroup extends ParallelRaceGroup {
   /**
    * Creates a new ShootFireGroup.
    */
-  public ShootFireGroup() {
+  public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
+
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
-    super();
+    super(
+      new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
+      new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
+      new TrackTarget(m_shooter, m_shooterAim),
+      new 
+      );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
new file mode 100644
index 0000000..083aea6
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.StorageConstants;
+import frc4388.robot.Subsystems.Storage;
+
+
+public class StoragePositionPID extends CommandBase {
+  Storage m_storage;
+  /**
+   * Creates a new StoragePositionPID.
+   */
+  public StoragePositionPID(Storage storage) {
+    m_storage = storage;
+    addRequirements(m_storage);
+  }
+
+  // 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() {
+    new runStoragePositionPID(m_storage.getEncoderPos() + StorageConstants.STORAGE_FULL_BALL)
+  }
+
+  // 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;
+  }
+}

From 741b1299087ff67a328f7fc56d6601ebaf15d8ac Mon Sep 17 00:00:00 2001
From: Rishabh <57200@psdschools.org>
Date: Sat, 22 Feb 2020 12:11:50 -0700
Subject: [PATCH 2/2] Started fire sturf

---
 src/main/java/frc4388/robot/commands/ShootFireGroup.java     | 3 +--
 src/main/java/frc4388/robot/commands/StoragePositionPID.java | 5 +++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/ShootFireGroup.java b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
index cd78283..d0e0ab6 100644
--- a/src/main/java/frc4388/robot/commands/ShootFireGroup.java
+++ b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
@@ -27,8 +27,7 @@ public class ShootFireGroup extends ParallelRaceGroup {
     super(
       new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
       new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
-      new TrackTarget(m_shooter, m_shooterAim),
-      new 
+      new TrackTarget(m_shooter, m_shooterAim)
       );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
index 083aea6..1270d3c 100644
--- a/src/main/java/frc4388/robot/commands/StoragePositionPID.java
+++ b/src/main/java/frc4388/robot/commands/StoragePositionPID.java
@@ -8,8 +8,9 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc4388.robot.Constants.StorageConstants;
-import frc4388.robot.Subsystems.Storage;
+import frc4388.robot.subsystems.Storage;
 
 
 public class StoragePositionPID extends CommandBase {
@@ -30,7 +31,7 @@ public class StoragePositionPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    new runStoragePositionPID(m_storage.getEncoderPos() + StorageConstants.STORAGE_FULL_BALL)
+    new RunCommand(() -> m_storage.runStoragePositionPID(m_storage.getEncoderPos() + StorageConstants.STORAGE_FULL_BALL));
   }
 
   // Called once the command ends or is interrupted.