Rework Command Groups to use Prep Checker

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

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* 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.shooter;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
+import frc4388.robot.subsystems.Storage;
+
+public class PrepChecker extends CommandBase {
+  Shooter m_shooter;
+  ShooterAim m_shooterAim;
+  ShooterHood m_shooterHood;
+  Storage m_storage;
+
+  boolean m_isDrumReady = false;
+  boolean m_isAimReady = false;
+  boolean m_isHoodReady = false;
+  boolean m_isStorageReady = false;
+  
+  /**
+   * Creates a new PrepChecker.
+   * @param shooter used to read all shooter subsystems. Not used as a requirement so don't expect it to interrupt other commands.
+   * @param storage reads storage in a similar way to shooter. Not used as a requirement.
+   */
+  public PrepChecker(Shooter shooter, Storage storage) {
+    m_shooter = shooter;
+    m_shooterAim = m_shooter.m_shooterAimSubsystem;
+    m_shooterHood = m_shooter.m_shooterHoodSubsystem;
+    m_storage = storage;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_isDrumReady = false;
+    m_isAimReady = false;
+    m_isHoodReady = false;
+    m_isStorageReady = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_isDrumReady = m_shooter.m_isDrumReady;              SmartDashboard.putBoolean("ShooterVelocityPID Finished", m_isDrumReady);
+    m_isAimReady = m_shooterAim.m_isAimReady;             SmartDashboard.putBoolean("TrackTarget Finished", m_isAimReady);
+    m_isHoodReady = m_shooterHood.m_isHoodReady;          SmartDashboard.putBoolean("HoodPosition Finished", m_isHoodReady);
+    m_isStorageReady = m_storage.m_isStorageReadyToFire;  SmartDashboard.putBoolean("StoragePrepAim Finished", m_isStorageReady);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_shooter.m_isDrumReady = false;
+    m_shooterAim.m_isAimReady = false;
+    m_shooterHood.m_isHoodReady = false;
+    m_storage.m_isStorageReadyToFire = false;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (m_isDrumReady && m_isAimReady && m_isHoodReady && m_isStorageReady) {
+      return true;
+    }
+    return false;
+  }
+}