Integrate Storage Code with Firing Code

src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java

@@ -7,6 +7,7 @@
 
 package frc4388.robot.commands.shooter;
 
+import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc4388.robot.commands.storage.StorageFire;
@@ -18,7 +19,7 @@ import frc4388.robot.subsystems.Storage;
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
-public class ShootFireGroup extends ParallelRaceGroup {
+public class ShootFireGroup extends ParallelDeadlineGroup {
   /**
    * Fires the shooter
    * @param m_shooter The Shooter subsytem
@@ -26,11 +27,11 @@ public class ShootFireGroup extends ParallelRaceGroup {
    * @param m_storage The Storage subsytem
    */
   public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
-    addCommands(
-      new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()), m_shooter),
-      new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle()), m_shooterHood),
+    super(
+      new StorageFire(m_storage),
       new TrackTarget(m_shooterAim),
-      new StorageFire(m_storage)
+      new ShooterVelocityControlPID(m_shooter),
+      new HoodPositionPID(m_shooterHood)
     );
   }
 }

src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java

@@ -27,10 +27,10 @@ public class ShootPrepGroup extends ParallelDeadlineGroup {
   public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) { 
     super(
       new PrepChecker(m_shooter, m_storage),
+      new StoragePrep(m_storage),
       new TrackTarget(m_shooterAim),
       new ShooterVelocityControlPID(m_shooter),
-      new HoodPositionPID(m_shooterHood),
-      new StoragePrep(m_storage)
+      new HoodPositionPID(m_shooterHood)
     );
   }
 }

src/main/java/frc4388/robot/commands/storage/ManageStorage.java

@@ -27,7 +27,7 @@ public class ManageStorage extends CommandBase {
   /* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
   boolean m_isStorageEmpty = true;
 
-  enum StorageMode{IDLE, INTAKE, RESET};
+  public enum StorageMode{IDLE, INTAKE, RESET};
   StorageMode m_storageMode = StorageMode.IDLE;
   
   /**

src/main/java/frc4388/robot/commands/storage/StorageFire.java

@@ -14,7 +14,7 @@ import frc4388.robot.subsystems.Storage;
 public class StorageFire extends CommandBase {
   Storage m_storage;
   /**
-   * Runs the Storage at a speed
+   * Runs the Storage until shoot beam is empty, then ends
    * @param storageSub The Storage subsytem
    */
   public StorageFire(Storage storageSub) {
@@ -40,6 +40,9 @@ public class StorageFire extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
+    if (m_storage.getBeamShooter()) {
+      return true;
+    }
     return false;
   }
 }

src/main/java/frc4388/robot/commands/storage/StoragePrep.java

@@ -32,7 +32,11 @@ public class StoragePrep extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_storage.runStorage(StorageConstants.STORAGE_SPEED);
+    if (!m_storage.m_isStorageReadyToFire) {
+      m_storage.runStorage(StorageConstants.STORAGE_SPEED);
+    } else {
+      m_storage.runStorage(0);
+    }
   }
 
   // Called once the command ends or is interrupted.
@@ -45,10 +49,10 @@ public class StoragePrep extends CommandBase {
   public boolean isFinished() {
     if (!m_storage.getBeamShooter() || (startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
       m_storage.m_isStorageReadyToFire = true;
-      return true;
     } else {
       m_storage.m_isStorageReadyToFire = false;
-      return false;
     }
+
+    return false;
   }
 }