removed LEDs from drive and readded the things i accidentally removed🦟™️

src/main/java/frc/robot/RobotContainer.java

@@ -1,17 +1,11 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import com.frcteam3255.joystick.SN_XboxController;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.commands.Drive;
-import frc.robot.commands.EjectGP;
 import frc.robot.commands.EjectShooter;
-import frc.robot.commands.HasGP;
 import frc.robot.commands.IntakeGround;
 import frc.robot.commands.PrepShooter;
 import frc.robot.commands.Shoot;
@@ -26,16 +20,15 @@
 public class RobotContainer {
   private final SN_XboxController m_driverController = new SN_XboxController(RobotMap.mapControllers.DRIVER_USB);
   private final Drivetrain subDrivetrain = new Drivetrain();
+  private final LED subLED = new LED();
   private final Intake subIntake = new Intake();
   private final Hopper subHopper = new Hopper();
   private final Shooter subShooter = new Shooter();
   private final Stager subStager = new Stager();
-  private final LED subLED = new LED();
   private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_RightX,
-      m_driverController.axis_LeftY, m_driverController.btn_LeftBumper, subLED);
-  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subStager, subLED);;
+      m_driverController.axis_LeftY, m_driverController.btn_LeftBumper);
+  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subStager, subLED);
   private final PrepShooter com_PrepShooter = new PrepShooter(subShooter, subLED);
-  private final HasGP com_StageGP = new HasGP(subStager, subLED);
   private final Shoot com_Shoot = new Shoot(subStager, subShooter, subLED);
   private final intakeHopper com_IntakeHopper = new intakeHopper(subHopper, subStager, subLED);
   private final EjectShooter com_EjectShooter = new EjectShooter(subStager, subShooter, subLED);
@@ -48,15 +41,11 @@ public RobotContainer() {
   }
 
   private void configureBindings() {
-    m_driverController.btn_B.whileTrue(com_IntakeGround);
-    m_driverController.btn_LeftBumper.whileTrue(new intakeHopper(subHopper, subStager, subLED));
-    m_driverController.btn_X.whileTrue(com_PrepShooter);
-    m_driverController.btn_A.whileTrue(com_StageGP);
-    m_driverController.btn_LeftTrigger.whileTrue(com_IntakeHopper);
-    m_driverController.btn_RightBumper.whileTrue(new EjectGP(subIntake, subHopper, subLED));
-
-    m_driverController.btn_Y.onTrue(com_Shoot);
-    m_driverController.btn_RightBumper.whileTrue(com_EjectShooter);
+    m_driverController.btn_LeftTrigger.whileTrue(com_IntakeGround);
+    m_driverController.btn_A.whileTrue(com_PrepShooter);
+    m_driverController.btn_B.whileTrue(com_IntakeHopper);
+    m_driverController.btn_LeftBumper.whileTrue(com_EjectShooter);
+    m_driverController.btn_RightTrigger.onTrue(com_Shoot);
 
   }
 

src/main/java/frc/robot/commands/Drive.java

@@ -5,28 +5,27 @@
 package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
-import frc.robot.subsystems.LED;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.Constants.constLED;
+
 import frc.robot.subsystems.Drivetrain;
 
 public class Drive extends Command {
   /** Creates a new Drive. */
-  LED globalLED;
+
   Drivetrain globalDrivetrain;
   DoubleSupplier globalForwardSpeed;
   DoubleSupplier globalRotationSpeed;
   Trigger globalSlowMode;
 
   public Drive(Drivetrain passedDrivetrain, DoubleSupplier passedForwardSpeed, DoubleSupplier passedRotationSpeed,
-      Trigger passedSlowMode, LED driveLED) {
+      Trigger passedSlowMode) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalDrivetrain = passedDrivetrain;
     globalForwardSpeed = passedForwardSpeed;
     globalRotationSpeed = passedRotationSpeed;
     globalSlowMode = passedSlowMode;
-    globalLED = driveLED;
     addRequirements(globalDrivetrain);
   }
 
@@ -40,7 +39,7 @@ public void initialize() {
   public void execute() {
     globalDrivetrain.setDrivetrainSpeed(globalForwardSpeed.getAsDouble(), globalRotationSpeed.getAsDouble(),
         globalSlowMode.getAsBoolean());
-    globalLED.setLEDs(constLED.LED_DRIVE);
+
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/Shoot.java

@@ -27,16 +27,13 @@ public Shoot(Stager passedStager, Shooter passedShooter, LED shootLED) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    if ((globalShooter.getPropelMotorVelocity() >= 0.6) && (globalShooter.getSpiralMotorVelocity() >= 0.8)) {
-      globalStager.setStagerMotorVelocity(0.3);
+    if ((globalShooter.getPropelMotorVelocity() >= Constants.constShooter.PROPEL_MOTOR_VELOCITY)
+        && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
+      globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
+      globalStager.setTopStagerMotorVelocity(Constants.constStager.TOP_STAGER_MOTOR_VELOCITY);
       globalLED.setLEDs(constLED.LED_SHOOTING);
-      if ((globalShooter.getPropelMotorVelocity() >= Constants.constShooter.PROPEL_MOTOR_VELOCITY)
-          && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
-        globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
-        globalStager.setTopStagerMotorVelocity(Constants.constStager.TOP_STAGER_MOTOR_VELOCITY);
-      } else {
-        globalStager.setStagerMotorVelocityNuetralOutput();
-      }
+    } else {
+      globalStager.setStagerMotorVelocityNuetralOutput();
     }
   }