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Iron-Panthers · Nov 11, 2023 · 2316772 · 2316772
1 parent 8123b57
commit 2316772
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Showing 3 changed files with 21 additions and 33 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -324,19 +324,11 @@ private void configureButtonBindings() {
 
     anthony
         .povDown()
-        .onTrue(
-            new GroundPickupCommand(
-                intakeSubsystem,
-                elevatorSubsystem,
-                anthony.rightBumper()));
+        .onTrue(new GroundPickupCommand(intakeSubsystem, elevatorSubsystem, anthony.rightBumper()));
 
     jacob
         .a()
-        .onTrue(
-            new GroundPickupCommand(
-                intakeSubsystem,
-                elevatorSubsystem,
-                jacob.leftBumper()));
+        .onTrue(new GroundPickupCommand(intakeSubsystem, elevatorSubsystem, jacob.leftBumper()));
 
     jacobLayer
         .off(jacob.povUp())
@@ -398,13 +390,13 @@ private void configureButtonBindings() {
               intakeSubsystem,
               elevatorSubsystem,
               Constants.SCORE_STEP_MAP.get(scoreType),
-            //   jacob.b()));
-      anthony.povRight()));
+              //   jacob.b()));
+              anthony.povRight()));
 
     anthony
         .povRight()
-    // jacob
-    //     .b()
+        // jacob
+        //     .b()
         .onTrue(
             new HashMapCommand<>(
                 scoreCommandMap, () -> currentNodeSelection.get().getScoreTypeIdentifier()));

diff --git a/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java b/src/main/java/frc/robot/commands/GroundIntakeElevatorCommand.java
@@ -1,29 +1,28 @@
 package frc.robot.commands;
 
-import java.util.function.BooleanSupplier;
-
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants;
 import frc.robot.subsystems.ElevatorSubsystem;
+import java.util.function.BooleanSupplier;
 
 public class GroundIntakeElevatorCommand extends CommandBase {
 
-    private ElevatorSubsystem elevatorSubsystem;
-    private BooleanSupplier isCube;
+  private ElevatorSubsystem elevatorSubsystem;
+  private BooleanSupplier isCube;
 
-    public GroundIntakeElevatorCommand(ElevatorSubsystem elevatorSubsystem, BooleanSupplier isCube) {
-        this.elevatorSubsystem = elevatorSubsystem;
-        this.isCube = isCube;
+  public GroundIntakeElevatorCommand(ElevatorSubsystem elevatorSubsystem, BooleanSupplier isCube) {
+    this.elevatorSubsystem = elevatorSubsystem;
+    this.isCube = isCube;
 
-        addRequirements(this.elevatorSubsystem);
-    }
+    addRequirements(this.elevatorSubsystem);
+  }
 
-    @Override
-    public void execute() {
-        if(isCube.getAsBoolean()) {
-            elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CUBE);
-        } else {
-            elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CONE);
-        }
+  @Override
+  public void execute() {
+    if (isCube.getAsBoolean()) {
+      elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CUBE);
+    } else {
+      elevatorSubsystem.setTargetState(Constants.Elevator.Setpoints.GROUND_INTAKE_CONE);
     }
+  }
 }
diff --git a/src/main/java/frc/robot/commands/GroundPickupCommand.java b/src/main/java/frc/robot/commands/GroundPickupCommand.java
@@ -4,15 +4,12 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.Constants.Elevator;
 import frc.robot.subsystems.ElevatorSubsystem;
-import frc.robot.subsystems.ElevatorSubsystem.ElevatorState;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.Modes;
 import java.util.function.BooleanSupplier;
-import java.util.function.Supplier;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see: