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Changes to isExtended boolean

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Refactored name according to boolean convention and combined two different booleans doing the same thing.
This commit is contained in:
Aarav Shah
2020-02-20 17:00:50 -07:00
parent d89f9da745
commit 7667182b01
2 changed files with 10 additions and 10 deletions
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src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
+5 -5
View File
@@ -19,7 +19,7 @@ import frc4388.utility.controller.IHandController;
public class RunExtenderOutIn extends CommandBase {
private Intake m_intake;
private boolean isOut = false;
CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
CANDigitalInput m_extenderForwardLimit;
@@ -46,13 +46,13 @@ public class RunExtenderOutIn extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
isOut = !isOut;
m_intake.isExtended = !m_intake.isExtended;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (isOut){
if (m_intake.isExtended){
m_intake.runExtender(0.3);
} else {
m_intake.runExtender(-0.3);
@@ -69,11 +69,11 @@ public class RunExtenderOutIn extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (isOut && m_extenderForwardLimit.get() == true){
if (m_intake.isExtended && m_extenderForwardLimit.get() == true){
return true;
}
else if(isOut && m_extenderReverseLimit.get() == true){
else if(m_intake.isExtended && m_extenderReverseLimit.get() == true){
return true;
}
src/main/java/frc4388/robot/subsystems/Intake.java
+5 -5
View File
@@ -24,7 +24,7 @@ public class Intake extends SubsystemBase {
CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
CANDigitalInput m_extenderForwardLimit;
CANDigitalInput m_extenderReverseLimit;
boolean extended = false;
public boolean isExtended = false;
/**
* Creates a new Intake.
@@ -65,16 +65,16 @@ public class Intake extends SubsystemBase {
*/
public void runExtender(final double input) {
if (m_extenderForwardLimit.get()) {
extended = true;
isExtended = true;
}
if (m_extenderReverseLimit.get()) {
extended = false;
isExtended = false;
}
if (extended == false) {
if (isExtended == false) {
m_extenderMotor.set(0.5);
}
if (extended == true) {
if (isExtended == true) {
m_extenderMotor.set(-0.5);
}
}