Debug Storage

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

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SubsystemBase;
+
+public class InterruptSubystem extends CommandBase {
+  /**
+   * Creates a new InterruptSubystem.
+   */
+  public InterruptSubystem(SubsystemBase subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(subsystem);
+  }
+
+  // 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() {
+  }
+
+  // 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 true;
+  }
+}

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

@@ -68,7 +68,7 @@ public class PrepChecker extends CommandBase {
   @Override
   public boolean isFinished() {
     if (m_isDrumReady && m_isAimReady && m_isHoodReady && m_isStorageReady) {
-      return true;
+      //return true;
     }
     return false;
   }

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

@@ -27,7 +27,7 @@ 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 StoragePrep(m_storage),
       new TrackTarget(m_shooterAim),
       new ShooterVelocityControlPID(m_shooter),
       new HoodPositionPID(m_shooterHood)

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

@@ -32,10 +32,12 @@ public class StoragePrep extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (!m_storage.m_isStorageReadyToFire) {
+    if ((m_storage.getBeamUseless() && m_storage.getBeamShooter()) || (m_startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
       m_storage.runStorage(StorageConstants.STORAGE_SPEED);
+      m_storage.m_isStorageReadyToFire = false;
     } else {
       m_storage.runStorage(0);
+      m_storage.m_isStorageReadyToFire = true;
     }
   }
 
@@ -47,12 +49,6 @@ public class StoragePrep extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (!m_storage.getBeamShooter() || (m_startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
-      m_storage.m_isStorageReadyToFire = true;
-    } else {
-      m_storage.m_isStorageReadyToFire = false;
-    }
-
     return false;
   }
 }