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Co-Authored-By: Sidney Trzepacz <74916637+Sid220@users.noreply.github.com>
FRC2713 · Feb 10, 2024 · f66acb6 · f66acb6
1 parent ec47693
commit f66acb6
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Showing 7 changed files with 16 additions and 33 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -269,9 +269,7 @@ public void robotInit() {
 
     driver
         .a()
-        .onTrue(
-            Commands.sequence(
-                Feeder.Commands.setMotionMode(Feeder.MotionMode.INTAKE_GP)));
+        .onTrue(Commands.sequence(Feeder.Commands.setMotionMode(Feeder.MotionMode.INTAKE_GP)));
     driver.a().onFalse(Commands.sequence(Shooter.Commands.setMotionMode(Shooter.MotionMode.OFF)));
 
     driver
@@ -302,8 +300,7 @@ public void robotInit() {
             new SequentialCommandGroup(
                 ShooterPivot.Commands.setTargetAndWait(20),
                 Elevator.Commands.setToHeightAndWait(20)));
-
-
+
     // operator.a().whileTrue(autoCommand)
 
     // shooterPivot.setGoal(10);

diff --git a/src/main/java/frc/robot/subsystems/feederIO/Feeder.java b/src/main/java/frc/robot/subsystems/feederIO/Feeder.java
@@ -10,26 +10,19 @@
 import frc.robot.util.LoggableMotor;
 import lombok.Getter;
 import lombok.Setter;
-
 import org.littletonrobotics.junction.Logger;
 
-
-
-
 public class Feeder extends SubsystemBase {
   @Getter private LoggableMotor feederMotor;
 
-  public enum MotionMode
-  {
+  public enum MotionMode {
     INTAKE_GP,
     HOLD_GAMEPIECE,
     SEND_TO_SHOOTER,
     OFF;
   }
 
-
-  @Setter
-  public MotionMode motionMode = MotionMode.OFF;
+  @Setter public MotionMode motionMode = MotionMode.OFF;
   private FeederIO IO;
   private double target;
   private FeederInputsAutoLogged inputs;
@@ -55,30 +48,27 @@ public void periodic() {
     switch (motionMode) {
       case INTAKE_GP:
         setTarget(2000);
-        if(hasGamepiece())
-        {
+        if (hasGamepiece()) {
           motionMode = MotionMode.HOLD_GAMEPIECE;
         }
-      break;
+        break;
       case HOLD_GAMEPIECE:
         setTarget(0);
-      break;
-        case SEND_TO_SHOOTER:
+        break;
+      case SEND_TO_SHOOTER:
         setTarget(2000);
-        if(!hasGamepiece())
-        {
+        if (!hasGamepiece()) {
           motionMode = MotionMode.OFF;
         }
-      break;
+        break;
       case OFF:
-        default:
+      default:
         setTarget(0);
         break;
     }
   }
 
-  public boolean hasGamepiece()
-  {
+  public boolean hasGamepiece() {
     return IO.hasGamepiece();
   }
 

diff --git a/src/main/java/frc/robot/subsystems/feederIO/FeederIO.java b/src/main/java/frc/robot/subsystems/feederIO/FeederIO.java
@@ -21,5 +21,5 @@ public static class FeederInputs {
 
   public void updateInputs(FeederInputsAutoLogged inputs);
 
-public boolean hasGamepiece();
+  public boolean hasGamepiece();
 }
diff --git a/src/main/java/frc/robot/subsystems/feederIO/FeederIOSim.java b/src/main/java/frc/robot/subsystems/feederIO/FeederIOSim.java
@@ -48,8 +48,7 @@ public void setSetpoint(double setpointRPM) {
   }
 
   @Override
-  public boolean hasGamepiece() 
-  {
+  public boolean hasGamepiece() {
     return false;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/feederIO/FeederIOSparks.java b/src/main/java/frc/robot/subsystems/feederIO/FeederIOSparks.java
@@ -13,6 +13,7 @@ public class FeederIOSparks implements FeederIO {
   CANSparkMax motor;
   double setpoint = 0;
   private TimeOfFlight sensor;
+
   public FeederIOSparks() {
     motor = new CANSparkMax(RobotMap.FEEDER_CAN_ID, MotorType.kBrushless);
     motor.getPIDController().setP(FeederConstants.FEEDER_GAINS.getKP());

diff --git a/src/main/java/frc/robot/subsystems/intakeIO/Intake.java b/src/main/java/frc/robot/subsystems/intakeIO/Intake.java
@@ -9,8 +9,6 @@
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import frc.robot.Constants;
 import frc.robot.Robot;
-import frc.robot.subsystems.feederIO.Feeder;
-import frc.robot.subsystems.feederIO.Feeder.FeederState;
 import frc.robot.util.LoggableMotor;
 import frc.robot.util.RumbleManager;
 import lombok.Setter;

diff --git a/src/main/java/frc/robot/subsystems/intakeIO/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intakeIO/IntakeIOSim.java
@@ -2,7 +2,6 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import frc.robot.Constants;
 
@@ -22,8 +21,7 @@ public class IntakeIOSim implements IntakeIO {
 
   private double rightVolts;
 
-  public IntakeIOSim() {
-  }
+  public IntakeIOSim() {}
 
   @Override
   public void setCurrentLimit(int currentLimit) {