Merge pull request #8 from Team4388/inline-commands

Optimize Commands to Reduce Uneeded Verbosity

src/main/java/frc4388/robot/Constants.java

@@ -7,6 +7,8 @@
 
 package frc4388.robot;
 
+import frc4388.utility.LEDPatterns;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants.  This class should not be used for any other purpose.  All constants should be
@@ -25,6 +27,8 @@ public final class Constants {
 
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
+
+        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
     }
 
     public static final class OIConstants {

src/main/java/frc4388/robot/RobotContainer.java

@@ -10,13 +10,12 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
-import frc4388.robot.commands.Drive.DriveWithJoystick;
-import frc4388.robot.commands.Drive.GamerMove;
-import frc4388.robot.commands.LED.UpdateLED;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.LED;
+import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
 
@@ -43,8 +42,12 @@ public class RobotContainer {
         configureButtonBindings();
 
         /* Default Commands */
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        // drives the robot with a two-axis input from the driver controller
-        m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
+        m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
+            getDriverController().getLeftYAxis(),
+            getDriverController().getRightXAxis())));
+        // continually sends updates to the Blinkin LED controller to keep the lights on
+        m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED()));
     }
 
     /**
@@ -54,9 +57,16 @@ public class RobotContainer {
     * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
     */
     private void configureButtonBindings() {
+        /* Driver Buttons */
+        // test command to spin the robot while pressing A on the driver controller
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whenPressed(new GamerMove(m_robotDrive))
+            .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
-            .whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
+
+        /* Operator Buttons */
+        // activates "Lit Mode"
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+            .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     }
 
     /**

src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java

@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.Drive;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.subsystems.Drive;
-import frc4388.utility.controller.IHandController;
-
-public class DriveWithJoystick extends CommandBase {
-
-  private final Drive m_drive;
-  private final IHandController m_driverXbox;
-  public double m_inputMove, m_inputSteer;
-
-  /**
-   * Creates a new DriveWithJoystick, driving the robot with the given controller
-   */
-  public DriveWithJoystick(Drive subsystem, IHandController controller) {
-    m_drive = subsystem;
-    m_driverXbox = controller;
-    addRequirements(m_drive);
-  }
-
-  // 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() {
-    m_inputMove = m_driverXbox.getLeftYAxis();
-    m_inputSteer = m_driverXbox.getRightXAxis();
-    m_drive.driveWithInput(m_inputMove, m_inputSteer);
-  }
-
-  // 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 false;
-  }
-}

src/main/java/frc4388/robot/commands/Drive/GamerMove.java

@@ -1,47 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.Drive;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-import frc4388.robot.subsystems.Drive;
-
-public class GamerMove extends CommandBase {
-  
-  private final Drive m_drive;
-  
-  /**
-   * Creates a new GamerMove.
-   */
-  public GamerMove(Drive subsystem) {
-    m_drive = subsystem;
-    addRequirements(m_drive);
-  }
-
-  // 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() {
-    m_drive.driveWithInput(0, 1);
-  }
-
-  // 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 false;
-  }
-}

src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java

@@ -1,37 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.LED;
-
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-
-import frc4388.robot.subsystems.LED;
-import frc4388.utility.LEDPatterns;
-
-// 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 SetLEDPattern extends InstantCommand {
-
-  private final LED m_led;
-  public static LEDPatterns m_pattern;
-
-  /**
-   * Add your docs here.
-   */
-  public SetLEDPattern(LED subsystem, LEDPatterns pattern) {
-    m_led = subsystem;
-    m_pattern = pattern;
-    addRequirements(m_led);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    m_led.setPattern(m_pattern);
-  }
-}

src/main/java/frc4388/robot/commands/LED/UpdateLED.java

@@ -1,47 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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.LED;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-import frc4388.robot.subsystems.LED;
-
-public class UpdateLED extends CommandBase {
-
-  private final LED m_LED;
-
-  /**
-   * Creates a new UpdateLED that continually runs updateLED in the LED subsystem.
-   */
-  public UpdateLED(LED subsystem) {
-    m_LED = subsystem;
-    addRequirements(m_LED);
-  }
-
-  // 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() {
-    m_LED.updateLED();
-  }
-
-  // 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 false;
-  }
-}

src/main/java/frc4388/robot/subsystems/LED.java

@@ -28,7 +28,7 @@ public class LED extends SubsystemBase {
    */
   public LED(){
     LEDController = new Spark(LEDConstants.LED_SPARK_ID);
-    setPattern(LEDPatterns.FOREST_WAVES);
+    setPattern(LEDConstants.DEFAULT_PATTERN);
     LEDController.set(currentLED);
     System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
   }