50 lines
1.5 KiB
Java
50 lines
1.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import java.util.function.DoubleSupplier;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.BasePilotable;
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import frc.robot.subsystems.Limelight;
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public class Cone extends CommandBase {
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private Limelight limelight;
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private BasePilotable basePilotable;
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private DoubleSupplier doubleSupplier;
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/** Creates a new ConeCube. */
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public Cone(Limelight limelight,BasePilotable basePilotable,DoubleSupplier doubleSupplier) {
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this.basePilotable = basePilotable;
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this.limelight = limelight;
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this.doubleSupplier = doubleSupplier;
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(limelight,basePilotable);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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limelight.cone();
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(), 0);
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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limelight.pilote();
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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