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Simbotics · Dec 19, 2023 · eeef98d · eeef98d
1 parent f05e5fc
commit eeef98d
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Showing 12 changed files with 97 additions and 88 deletions.
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -60,11 +60,12 @@ public Command intakeScoreCommand(ScoringState scoringState, IntakeGamepieces ex
     SmartDashboard.putString("INTAKE STATE", scoringState.getStateName());
 
     return run(() -> {
-      Commands.runOnce(
-        () -> outtakeCommand(scoringState.getOuttakeSpeed(expectedGamepiece)), this)
-      .andThen(Commands.waitSeconds(0.5))
-      .andThen(stopIntakeCommand());
-    }).andThen(stopIntakeCommand());
+          Commands.runOnce(
+                  () -> outtakeCommand(scoringState.getOuttakeSpeed(expectedGamepiece)), this)
+              .andThen(Commands.waitSeconds(0.5))
+              .andThen(stopIntakeCommand());
+        })
+        .andThen(stopIntakeCommand());
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/intake/states/ScoringState.java b/src/main/java/frc/robot/subsystems/intake/states/ScoringState.java
@@ -3,59 +3,64 @@
 import frc.robot.subsystems.intake.enums.IntakeGamepieces;
 
 public abstract class ScoringState {
-    double outtakeSpeed;
-    double cubeOuttakeSpeed;
-    double coneOuttakeSpeed;
-
-    String stateName;
-
-    /**
-     * Creates a scoring state with the same outtake speed for cubes and cones
-     * @param outtakeSpeed The speed that should be used to outtake the gamepiece
-     * @param stateName The name of the scoring state that should be used for logging
-     */
-    protected ScoringState(double outtakeSpeed, String stateName) {
-        this.outtakeSpeed = outtakeSpeed;
-        this.stateName = stateName;
-    }
+  double outtakeSpeed;
+  double cubeOuttakeSpeed;
+  double coneOuttakeSpeed;
 
-    /**
-     * Creates a scoring state with different outtake speeds for cubes and cones
-     * @param cubeOuttakeSpeed The speed that should be used to outtake the cube gamepiece
-     * @param coneOuttakeSpeed The speed that should be used to outtake the cone gamepiece
-     * @param stateName The name of the scoring state that should be used for logging
-     */
-    protected ScoringState(double cubeOuttakeSpeed, double coneOuttakeSpeed, String stateName) {
-        this.cubeOuttakeSpeed = cubeOuttakeSpeed;
-        this.coneOuttakeSpeed = coneOuttakeSpeed;
-        this.stateName = stateName;
-    }
+  String stateName;
+
+  /**
+   * Creates a scoring state with the same outtake speed for cubes and cones
+   *
+   * @param outtakeSpeed The speed that should be used to outtake the gamepiece
+   * @param stateName The name of the scoring state that should be used for logging
+   */
+  protected ScoringState(double outtakeSpeed, String stateName) {
+    this.outtakeSpeed = outtakeSpeed;
+    this.stateName = stateName;
+  }
+
+  /**
+   * Creates a scoring state with different outtake speeds for cubes and cones
+   *
+   * @param cubeOuttakeSpeed The speed that should be used to outtake the cube gamepiece
+   * @param coneOuttakeSpeed The speed that should be used to outtake the cone gamepiece
+   * @param stateName The name of the scoring state that should be used for logging
+   */
+  protected ScoringState(double cubeOuttakeSpeed, double coneOuttakeSpeed, String stateName) {
+    this.cubeOuttakeSpeed = cubeOuttakeSpeed;
+    this.coneOuttakeSpeed = coneOuttakeSpeed;
+    this.stateName = stateName;
+  }
+
+  /**
+   * Gets the name of the scoring state
+   *
+   * @return The name of the scoring state
+   */
+  public String getStateName() {
+    return this.stateName;
+  }
 
-    /**
-     * Gets the name of the scoring state
-     * @return The name of the scoring state
-     */
-    public String getStateName() {
-        return this.stateName;
+  /**
+   * Gets the outtake speed for the scoring state depending on the gamepiece that is expected to be
+   * scored
+   *
+   * @return The outtake speed for the scoring state
+   */
+  public double getOuttakeSpeed(IntakeGamepieces expectedGamepiece) {
+    if (expectedGamepiece == null) {
+      return this.outtakeSpeed;
     }
 
-    /**
-     * Gets the outtake speed for the scoring state depending on the gamepiece that is expected to be scored
-     * @return The outtake speed for the scoring state
-     */
-    public double getOuttakeSpeed(IntakeGamepieces expectedGamepiece) {
-        if (expectedGamepiece == null) {
-            return this.outtakeSpeed;
-        }
-
-        // Based on the gamepiece that is expected to be scored, return the appropriate outtake speed
-        switch(expectedGamepiece) {
-            case CUBE:
-                return this.cubeOuttakeSpeed;
-            case CONE:
-                return this.coneOuttakeSpeed;
-            default:
-                return 0.0;
-        }
+    // Based on the gamepiece that is expected to be scored, return the appropriate outtake speed
+    switch (expectedGamepiece) {
+      case CUBE:
+        return this.cubeOuttakeSpeed;
+      case CONE:
+        return this.coneOuttakeSpeed;
+      default:
+        return 0.0;
     }
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighCone.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighCone.java
@@ -4,8 +4,8 @@
 import frc.robot.subsystems.intake.states.ScoringState;
 
 public class HighCone extends ScoringState {
-    
-    HighCone() {
-        super(IntakeConstants.OuttakeSpeeds.HIGH_CONE, "High Cone");
-    }
+
+  HighCone() {
+    super(IntakeConstants.OuttakeSpeeds.HIGH_CONE, "High Cone");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighConeAuto.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighConeAuto.java
@@ -5,7 +5,7 @@
 
 public class HighConeAuto extends ScoringState {
 
-    HighConeAuto() {
-        super(IntakeConstants.OuttakeSpeeds.HIGH_CONE_AUTO, "High Cone Auto");
-    }
+  HighConeAuto() {
+    super(IntakeConstants.OuttakeSpeeds.HIGH_CONE_AUTO, "High Cone Auto");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidCone.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidCone.java
@@ -5,7 +5,7 @@
 
 public class MidCone extends ScoringState {
 
-    MidCone() {
-        super(IntakeConstants.OuttakeSpeeds.MID_CONE, "Mid Cone");
-    }
+  MidCone() {
+    super(IntakeConstants.OuttakeSpeeds.MID_CONE, "Mid Cone");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidConeTipped.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidConeTipped.java
@@ -5,7 +5,7 @@
 
 public class MidConeTipped extends ScoringState {
 
-    MidConeTipped() {
-        super(IntakeConstants.OuttakeSpeeds.MID_CONE_TIPPED, "Mid Cone Tipped");
-    }
+  MidConeTipped() {
+    super(IntakeConstants.OuttakeSpeeds.MID_CONE_TIPPED, "Mid Cone Tipped");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCube.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCube.java
@@ -5,7 +5,7 @@
 
 public class HighCube extends ScoringState {
 
-    HighCube() {
-        super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube");
-    }
+  HighCube() {
+    super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCubeAuto.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCubeAuto.java
@@ -5,7 +5,7 @@
 
 public class HighCubeAuto extends ScoringState {
 
-    HighCubeAuto() {
-        super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube Auto");
-    }
+  HighCubeAuto() {
+    super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube Auto");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCube.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCube.java
@@ -4,8 +4,8 @@
 import frc.robot.subsystems.intake.states.ScoringState;
 
 public class MidCube extends ScoringState {
-    
-    MidCube() {
-        super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube");
-    }
+
+  MidCube() {
+    super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCubeAuto.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCubeAuto.java
@@ -4,8 +4,8 @@
 import frc.robot.subsystems.intake.states.ScoringState;
 
 public class MidCubeAuto extends ScoringState {
-    
-    MidCubeAuto() {
-        super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube Auto");
-    }
+
+  MidCubeAuto() {
+    super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube Auto");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/level/Low.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/level/Low.java
@@ -5,7 +5,7 @@
 
 public class Low extends ScoringState {
 
-    Low() {
-        super(IntakeConstants.OuttakeSpeeds.LOW_CUBE, IntakeConstants.OuttakeSpeeds.LOW_CONE, "Low");
-    }
+  Low() {
+    super(IntakeConstants.OuttakeSpeeds.LOW_CUBE, IntakeConstants.OuttakeSpeeds.LOW_CONE, "Low");
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/states/scoring/level/LowAuto.java b/src/main/java/frc/robot/subsystems/intake/states/scoring/level/LowAuto.java
@@ -5,7 +5,10 @@
 
 public class LowAuto extends ScoringState {
 
-    LowAuto() {
-        super(IntakeConstants.OuttakeSpeeds.LOW_CUBE_AUTO, IntakeConstants.OuttakeSpeeds.LOW_CONE_AUTO, "Low Auto");
-    }
+  LowAuto() {
+    super(
+        IntakeConstants.OuttakeSpeeds.LOW_CUBE_AUTO,
+        IntakeConstants.OuttakeSpeeds.LOW_CONE_AUTO,
+        "Low Auto");
+  }
 }