From 0835db94fe634df450e77c332347f7e2096f9067 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Thu, 28 Mar 2024 09:58:36 -0400
Subject: [PATCH] Adding documentation to RobotContainer

---
 src/main/java/frc/robot/RobotContainer.java | 36 ++++++++++++++-------
 1 file changed, 24 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9e4ecc8..ff2a138 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -91,18 +91,25 @@ public class RobotContainer {
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
   private final Telemetry logger = new Telemetry(MaxSpeed);
 
+  // Command Group for Intake and Index
   private final IntakeCommandGroup intakeGroup = new IntakeCommandGroup(index, intake);
+
+  // Command Group for Intake and Index reverse
   private final IntakeRevCommandGroup intakeRevGroup = new IntakeRevCommandGroup(index, intake);
 
   // Only Sets the flywheel to target velocity, no index
   private final SetFlywheel setShooterVelocity = new SetFlywheel(shooter2, arm, shooter2.FLYWHEEL_VELOCITY);
+
   // Only Sets the flywheel to idle velocity, no index
   private final SetFlywheel setShooterIdle = new SetFlywheel(shooter2, arm, shooter2.FLYWHEEL_IDLE_VELOCITY);
 
   // An updated version of the RevAndShootCommand
   private final ShootWhenReady shootWhenReady = new ShootWhenReady(shooter2, index, notesensor);
+
   // Autonomous version of the Shoot When Ready command that addeds notesensor checks for ending the command
   private final ShootWhenReadyAuton shootWhenReadyAuton = new ShootWhenReadyAuton(shooter2, index, notesensor);
+  
+  // An updated version of the RevAndShootCommand that increases "power" to shoots from the stage
   private final ShootFromStage shootFromStage = new ShootFromStage(arm, index, intake, shooter2, notesensor);
   
 
@@ -117,16 +124,14 @@ public class RobotContainer {
   public RobotContainer() {
     Limelight lime = new Limelight();
 
-    /* Pathplanner Named Commands */
-    NamedCommands.registerCommand("ShootClose", new ShootClose(arm, index, intake, shooter));
-    NamedCommands.registerCommand("ShootClose2", shootWhenReadyAuton);
+    /* Pathplanner Named Commands for Auton */
+    NamedCommands.registerCommand("ShootClose", new ShootClose(arm, index, intake, shooter)); // Command Group
+    NamedCommands.registerCommand("ShootClose2", shootWhenReadyAuton); // Command for autonomous, same as below
     NamedCommands.registerCommand("ShootFromStage", shootFromStage);
-    NamedCommands.registerCommand("Intake", new IntakeIndex(index, intake));
-    
+    NamedCommands.registerCommand("Intake", new IntakeIndex(index, intake)); // Command Group
     NamedCommands.registerCommand("AutoShootWhenReady", shootWhenReadyAuton);
-    NamedCommands.registerCommand("ShootWhenReady", shootWhenReadyAuton); // Autonomous 
+    NamedCommands.registerCommand("ShootWhenReady", shootWhenReadyAuton); // Command for autonomous 
     NamedCommands.registerCommand("SetFlywheelToIdle", setShooterIdle);
-    // Constants.ArmConstants.ARM_MID_POSE));
 
     /*
      * Auto Chooser
@@ -176,6 +181,7 @@ private void configureBindings() {
                                                                                   // negative X (left)
         ));
     // m_driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
+
     /*
      * m_driverController.b().whileTrue(drivetrain
      * .applyRequest(() -> point
@@ -183,7 +189,6 @@ private void configureBindings() {
      * -m_driverController.getLeftX()))));
      */
 
-    // reset the field-centric heading
     /*
      * m_driverController.b().whileTrue(drivetrain.applyRequest(() -> point
      * .withModuleDirection(new Rotation2d(-m_driverController.getLeftY(),
@@ -196,13 +201,20 @@ private void configureBindings() {
     m_driverController.x().whileTrue(new InstantCommand(() -> arm.setArmPose(Constants.ArmConstants.ARM_AMP_POSE)));
     m_driverController.rightBumper().whileTrue(new IntakeCommandGroup(index, intake));
     m_driverController.leftBumper().whileTrue(new IntakeRevCommandGroup(index, intake));
+
+    /* Ideally, this is the working command for turning on the shooter and index */
     m_driverController.rightTrigger().whileTrue(shootWhenReady);
-    // m_driverController.rightTrigger().whileTrue(setShooterVelocity); // TODO Testing purposes, remove later
-    // m_driverController.rightTrigger().whileTrue(autonShootWhenReady); // TODO Testing purposes, remove later
+
+    // TODO Testing purposes, remove later. This only turns on the flywheel-shooter
+    // m_driverController.rightTrigger().whileTrue(setShooterVelocity); 
+
+    // TODO Testing purposes, remove later. This would be the ideal command used for Autonomous shooting
+    // m_driverController.rightTrigger().whileTrue(autonShootWhenReady);
+
     m_driverController.leftTrigger().whileTrue(new SetIndex(index, -0.75));
 
-    // m_driverController.rightTrigger().whileTrue(new RevAndShootCommand(index, shooter)); /* Previous bindings */
-    // m_driverController.rightTrigger().whileFalse(new InstantCommand(() -> shooter.SetOutput(0))); /* Previous bindings */
+    // m_driverController.rightTrigger().whileTrue(new RevAndShootCommand(index, shooter)); /* Previous bindings from LC and TC */
+    // m_driverController.rightTrigger().whileFalse(new InstantCommand(() -> shooter.SetOutput(0))); /* Previous bindings from LC and TC */
 
     /* OPERATOR BINDINGS */
     m_operatorController.b().whileTrue(new SetArmClimb(arm, Constants.ArmConstants.ARM_MANUAL_POWER));