fix shooter command won't end issue in FireCommand

FRC-Team-620 · Feb 23, 2024 · 1c2ba10 · 1c2ba10
1 parent 9515d12
commit 1c2ba10
Show file tree

Hide file tree

Showing 3 changed files with 24 additions and 25 deletions.
diff --git a/src/main/java/org/jmhsrobotics/frc2024/autoCommands/FireCommand.java b/src/main/java/org/jmhsrobotics/frc2024/autoCommands/FireCommand.java
@@ -3,7 +3,7 @@
 import org.jmhsrobotics.frc2024.subsystems.intake.IntakeSubsystem;
 import org.jmhsrobotics.frc2024.subsystems.intake.commands.IntakeCommand;
 import org.jmhsrobotics.frc2024.subsystems.shooter.ShooterSubsystem;
-import org.jmhsrobotics.frc2024.subsystems.shooter.commands.ShooterCommand;
+import org.jmhsrobotics.frc2024.subsystems.shooter.commands.ShooterAutoCommand;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
@@ -14,7 +14,7 @@ public class FireCommand extends SequentialCommandGroup {
 	public FireCommand(IntakeSubsystem intakeSubsystem, ShooterSubsystem shooterSubsystem) {
 		this.intakeSubsystem = intakeSubsystem;
 		this.shooterSubsystem = shooterSubsystem;
-		addCommands(new ShooterCommand(1, this.shooterSubsystem).withTimeout(5),
+		addCommands(new ShooterAutoCommand(this.shooterSubsystem, 1),
 				new IntakeCommand(1, this.intakeSubsystem, this.shooterSubsystem));
 	}
 }
diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/ShooterSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/ShooterSubsystem.java
@@ -42,7 +42,7 @@ public void periodic() {
 		volt = SmartDashboard.getNumber("shooter/volt", 0);
 		if (this.getRPM() < goal) {
 			this.setVolt(volt);
-		}else{
+		} else {
 			this.atGoal = true;
 		}
 	}
@@ -60,11 +60,11 @@ public void setVolt(double amount) {
 		this.topFlywheel.setVoltage(amount);
 	}
 
-	public void setGoal(double goal){
+	public void setGoal(double goal) {
 		this.goal = goal;
 	}
 
-	public boolean atGoal(){
+	public boolean atGoal() {
 		return this.atGoal;
 	}
 	private void initializeMotors() {
@@ -84,7 +84,6 @@ private void initializeMotors() {
 		SmartDashboard.putNumber("shooter/volt", 5.5);
 	}
 
-
 	FlywheelSim flywheelSim;
 	RevEncoderSimWrapper encSim;
 	public void initSim() {

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/commands/ShooterAutoCommand.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/commands/ShooterAutoCommand.java
@@ -4,26 +4,26 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 
-public class ShooterAutoCommand extends Command{
-    private ShooterSubsystem shooterSubsystem;
-    private double targetRPM;
+public class ShooterAutoCommand extends Command {
+	private ShooterSubsystem shooterSubsystem;
+	private double targetRPM;
 
-    public ShooterAutoCommand(ShooterAutoCommand shooterAutoCommand, double targetRPM){
-        this.shooterSubsystem = shooterSubsystem;
-        this.targetRPM = targetRPM;
-    }
-    @Override
-    public void execute() {
-        this.shooterSubsystem.setGoal(this.targetRPM);
-    }
+	public ShooterAutoCommand(ShooterSubsystem shooterSubsystem, double targetRPM) {
+		this.shooterSubsystem = shooterSubsystem;
+		this.targetRPM = targetRPM;
+	}
+	@Override
+	public void execute() {
+		this.shooterSubsystem.setGoal(this.targetRPM);
+	}
 
-    @Override
-    public boolean isFinished() {
-        return this.shooterSubsystem.atGoal();
-    }
+	@Override
+	public boolean isFinished() {
+		return this.shooterSubsystem.atGoal();
+	}
 
-    @Override
-    public void end(boolean interrupted) {
-        this.shooterSubsystem.setVolt(0);
-    }
+	@Override
+	public void end(boolean interrupted) {
+		this.shooterSubsystem.setVolt(0);
+	}
 }