Merge branch 'add-shooter' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-shooter

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 +20,14 @@ 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)
+      );
   }
 }

src/main/java/frc4388/robot/commands/StoragePositionPID.java

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj2.command.RunCommand;
+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 RunCommand(() -> m_storage.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;
+  }
+}