Merge branch '27-handoff-command' into ElevatorCommand

Patribots4738 · Jan 24, 2024 · 0d8f123 · 0d8f123
2 parents 132bb47 + a3a6e5a
commit 0d8f123
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Showing 3 changed files with 5 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/commands/ShooterCalc.java b/src/main/java/frc/robot/commands/ShooterCalc.java
@@ -107,16 +107,16 @@ public Command sendBackCommand() {
 
   public Command resetShooter() {
       return Commands.runOnce(() -> stopAiming())
-              .andThen(Commands.runOnce(() -> shooterStop()))
-                        .alongWith(Commands.runOnce(() -> pivotSetRestAngle()));
+              .andThen(shooterStopCommand()
+                        .alongWith(Commands.runOnce(() -> pivotSetRestAngle())));
   }
 
   public void shooterSetSpeed(double speed) {
     shooter.setSpeed(speed);
   }
 
-  public void shooterStop() {
-    shooter.stop();
+  public Command shooterStopCommand() {
+    return shooter.stop();
   }
 
   public void pivotSetAngle(double angle) {

diff --git a/src/main/java/frc/robot/subsystems/shooter/Pivot.java b/src/main/java/frc/robot/subsystems/shooter/Pivot.java
@@ -36,8 +36,6 @@ public void configMotor() {
     }
 
     public void setAngle(double angle) {
-        // Divide by 180 because angle will be a value between 180 and -180
-        // and we want to set the position between 1.0 and -1.0
         pivot.setTargetPosition(angle / ShooterConstants.PIVOT_MAX_ANGLE);
     }
     public void setRestAngle() {

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -48,7 +48,7 @@ public void setSpeed(double speed) {
     }
 
     public Command stop() {
-        return Commands.run(() -> motorLeft.setTargetVelocity(0));
+        return Commands.runOnce(() -> motorLeft.setTargetVelocity(0));
     }
 
     //TODO: Implement a way to get the RPM of the shooter