remove isHopperFull sensor, and use hasGP sensor to stop both intake (#…

…45)

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

@@ -30,7 +30,7 @@ public class RobotContainer {
   private final Stager subStager = new Stager();
   private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_LeftY,
       m_driverController.axis_RightX);
-  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subHopper);
+  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subStager);
   private final PrepShooter com_PrepShooter = new PrepShooter(subShooter);
   private final HasGP com_StageGP = new HasGP(subStager);
   private final Shoot com_Shoot = new Shoot(subStager, subShooter);
@@ -42,7 +42,7 @@ public RobotContainer() {
 
   private void configureBindings() {
     m_driverController.btn_B.whileTrue(com_IntakeGround);
-    m_driverController.btn_LeftBumper.whileTrue(new intakeHopper(subHopper));
+    m_driverController.btn_LeftBumper.whileTrue(new intakeHopper(subHopper, subStager));
     m_driverController.btn_X.whileTrue(com_PrepShooter);
     m_driverController.btn_A.whileTrue(com_StageGP);
 

src/main/java/frc/robot/RobotMap.java

@@ -15,7 +15,6 @@ public static class mapControllers {
   public static class mapHopper {
     public static final int ORIENTATION_MOTOR = 30;
     public static final int IS_GP_DETECTED_DIO = 1;
-    public static final int IS_HOPPER_FULL_DIO = 2;
   }
 
   public static class mapDriveTrain {

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

@@ -5,18 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Hopper;
+import frc.robot.subsystems.Stager;
 import frc.robot.subsystems.Intake;
 
 public class IntakeGround extends Command {
   /** Creates a new IntakeGround. */
   Intake globalIntake;
-  Hopper globalHopper;
+  Stager globalStager;
 
-  public IntakeGround(Intake passedIntake, Hopper passedHopper) {
+  public IntakeGround(Intake passedIntake, Stager passedStager) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalIntake = passedIntake;
-    globalHopper = passedHopper;
+    globalStager = passedStager;
   }
 
   // Called when the command is initially scheduled.
@@ -28,8 +28,8 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // if hopper is full
-    if (globalHopper.isHopperFull()) {
+    // if Stager is full
+    if (globalStager.getHasGP()) {
       globalIntake.setIntakeVelocity(0);
     } else {
       globalIntake.setIntakeVelocity(0.5);

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

@@ -6,15 +6,18 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Hopper;
+import frc.robot.subsystems.Stager;
 
 public class intakeHopper extends Command {
 
   Hopper subHopper;
+  Stager subStager;
 
   /** Creates a new intakeHopper. */
-  public intakeHopper(Hopper subHopper) {
+  public intakeHopper(Hopper subHopper, Stager subStager) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.subHopper = subHopper;
+    this.subStager = subStager;
 
   }
 
@@ -28,7 +31,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (subHopper.isHopperFull()) {
+    if (subStager.getHasGP()) {
       subHopper.setOrientationMotorNuetralOutput();
     } else {
       subHopper.setOrientationMotorSpeed(.5);

src/main/java/frc/robot/subsystems/Hopper.java

@@ -14,12 +14,10 @@ public class Hopper extends SubsystemBase {
   /** Creates a new Hopper. */
   TalonFX orientationMotor;
   DigitalInput isGPDetected;
-  DigitalInput isHopperFull;
 
   public Hopper() {
     orientationMotor = new TalonFX(RobotMap.mapHopper.ORIENTATION_MOTOR);
     isGPDetected = new DigitalInput(RobotMap.mapHopper.IS_GP_DETECTED_DIO);
-    isHopperFull = new DigitalInput(RobotMap.mapHopper.IS_HOPPER_FULL_DIO);
 
   }
 
@@ -36,11 +34,6 @@ public boolean getGamePieceHopper() {
     return isGPDetected.get();
   }
 
-  public boolean isHopperFull() {
-
-    return isHopperFull.get();
-  }
-
   @Override
   public void periodic() {