Merge pull request #96 from DeepBlueRobotics/revert-to-sunday-code-base

Revert to Sunday-Code Base

Author: FriedLongJohns

src/main/java/org/carlmontrobotics/Config.java

@@ -22,9 +22,8 @@ public abstract class Config implements Sendable {
 
     // Add additional config settings by declaring a protected field, and...
     protected boolean exampleFlagEnabled = false;
-    protected boolean swimShady = false;
+    protected boolean swimShady = true;
     protected boolean setupSysId = false;
-	  protected boolean limelightDisabled = false;
     protected boolean useSmartDashboardControl = false; // whether to control arm position + rpm of
                                                        // outtake through SmartDashboard
                                                        // Note: disables joystick control of arm and
@@ -50,11 +49,7 @@ public boolean useSmartDashboardControl() {
         return useSmartDashboardControl;
     }
 
-    public boolean isLimelightDisabled() {
-        return limelightDisabled;
-    }
-
-    // --- Place additional config settings ^above^ this line ---
+    // --- For clarity, place additional config settings ^above^ this line ---
 
     private static class MethodResult {
         String methodName = null;

src/main/java/org/carlmontrobotics/RobotContainer.java

@@ -361,7 +361,7 @@ private void registerAutoCommands() {
     NamedCommands.registerCommand("AlignToAprilTagMegaTag2",
             new AlignToApriltag(drivetrain, limelight));
     NamedCommands.registerCommand("Shoot", new SequentialCommandGroup(
-            new ParallelCommandGroup(new AlignDrivetrain(drivetrain),
+            new ParallelCommandGroup(new AlignToApriltag(drivetrain, limelight),
                     new AimArmSpeaker(arm, limelight),
                     new RampRPMAuton(intakeShooter)),
             new PassToOuttake(intakeShooter),
@@ -382,11 +382,6 @@ private void registerAutoCommands() {
     NamedCommands.registerCommand("StopBoth",
         new ParallelCommandGroup(new InstantCommand(intakeShooter::stopIntake),
                     new InstantCommand(intakeShooter::stopOuttake)));
-
-    NamedCommands.registerCommand("Auto Intake",
-            new SequentialCommandGroup(
-                    new AlignToNoteMath(drivetrain, intakeShooter),
-                    new DriveAndIntake(intakeShooter, drivetrain)));
   }
 
   private void setupAutos() {

src/main/java/org/carlmontrobotics/commands/AimArmSpeaker.java

@@ -11,8 +11,6 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 
-import static org.carlmontrobotics.Config.CONFIG;
-
 public class AimArmSpeaker extends Command {
     private final Arm arm;
     private final Limelight ll;
@@ -47,6 +45,6 @@ public void end(boolean interrupted) {}
     // Returns true when the command should end.
     @Override
     public boolean isFinished() {
-        return arm.armAtSetpoint() || CONFIG.isLimelightDisabled();
+        return arm.armAtSetpoint();
     }
 }

src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java

@@ -16,8 +16,6 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 
-import static org.carlmontrobotics.Config.CONFIG;
-
 public class AlignToApriltag extends Command {
 
         public final TeleopDrive teleopDrive;
@@ -118,6 +116,6 @@ public boolean isFinished() {
                 // return false;
                 // SmartDashboard.putBoolean("At Setpoint", rotationPID.atSetpoint());
                 // SmartDashboard.putNumber("Error", rotationPID.getPositionError());
-                return rotationPID.atSetpoint() || CONFIG.isLimelightDisabled();
+                return rotationPID.atSetpoint();
         }
 }

src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java

@@ -16,8 +16,6 @@
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj2.command.Command;
 
-import static org.carlmontrobotics.Config.CONFIG;
-
 public class AlignToNote extends Command {
 
     public final TeleopDrive teleopDrive;
@@ -56,7 +54,7 @@ public void execute() {
 
     @Override
     public boolean isFinished() {
-        return CONFIG.isLimelightDisabled();
+        return false;
         // SmartDashboard.putBoolean("At Setpoint", rotationPID.atSetpoint());
         // SmartDashboard.putNumber("Error", rotationPID.getPositionError());
         // return rotationPID.atSetpoint();