Program Simple Auto

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

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+/*----------------------------------------------------------------------------*/
+/* 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.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+
+public class PrepChecker extends CommandBase {
+  Shooter m_shooter;
+  ShooterAim m_shooterAim;
+
+  /**
+   * Creates a new PrepChecker.
+   */
+  public PrepChecker(Shooter shooter, ShooterAim shooterAim) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_shooter = shooter;
+    m_shooterAim = shooterAim;
+  }
+
+  // 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() {
+    if (m_shooterAim.m_isAimReady && m_shooter.m_isDrumReady) {
+      return true;
+    }
+
+    return false;
+  }
+}