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Also adding the newly-named files as part of the Shooter subsystem breakup.
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‎src/main/java/org/mayheminc/robot2020/autonomousroutines/DriveStraightOnly.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.autonomousroutines;
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import org.mayheminc.robot2020.commands.*;
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import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
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import edu.wpi.first.wpilibj2.command.*;
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public class DriveStraightOnly extends SequentialCommandGroup {
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/**
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* Add your docs here.
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*/
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public DriveStraightOnly() {
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addCommands(new DriveZeroGyro(0.0));
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addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 50, 0));
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addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 100, 270));
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// addCommands(new ShooterSetHoodAbs(Shooter.HOOD_INITIATION_LINE_POSITION));
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// addCommands(new DriveStraightOnHeading(0.4, DistanceUnits.INCHES, 100, 0));
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/DriveStraight.java

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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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// import org.mayheminc.robot2019.Robot;
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// import org.mayheminc.robot2019.subsystems.Drive;
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// import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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/**
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*
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*/
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public class DriveStraight extends CommandBase {
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double m_targetPower;
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/**
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*
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* @param arg_targetPower +/- motor power [-1.0, +1.0]
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* @param arg_distance Distance in encoder counts
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*/
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public DriveStraight(double arg_targetSpeed) {
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addRequirements(RobotContainer.drive);
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m_targetPower = arg_targetSpeed;
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}
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// Called just before this Command runs the first time
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@Override
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public void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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@Override
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public void execute() {
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RobotContainer.drive.speedRacerDrive(m_targetPower, 0, false);
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}
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// Make this return true when this Command no longer needs to run execute()
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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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// Called once after isFinished returns true
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@Override
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public void end(boolean interrupted) {
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RobotContainer.drive.stop();
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/FeederSet.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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public class FeederSet extends CommandBase {
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double m_speed;
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/**
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* Creates a new ShooterSetFeeder.
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*/
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public FeederSet(double speed) {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.feeder);
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m_speed = speed;
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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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RobotContainer.feeder.setSpeed(m_speed);
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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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RobotContainer.feeder.setSpeed(0.0);
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/HoodAdjust.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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public class HoodAdjust extends CommandBase {
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double m_adjust;
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/**
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* Creates a new ShooterAdjustHood.
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*/
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public HoodAdjust(double adjust) {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.hood);
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m_adjust = adjust;
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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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RobotContainer.hood.setPosition(RobotContainer.hood.getPosition() + m_adjust);
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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 true;
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/HoodSetAbs.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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public class HoodSetAbs extends InstantCommand {
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double m_set;
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/**
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* Creates a new HoodSetAbs.
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*/
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public HoodSetAbs(double set) {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.hood);
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m_set = set;
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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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RobotContainer.hood.setPosition(m_set);
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/HoodSetRel.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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public class HoodSetRel extends InstantCommand {
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double m_adjust;
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/**
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* Creates a new ShooterSetHood.
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*/
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public HoodSetRel(double adjust) {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.hood);
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m_adjust = adjust;
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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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double pos = RobotContainer.hood.getPosition();
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RobotContainer.hood.setPosition(pos + m_adjust);
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/HoodSetVBus.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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public class HoodSetVBus extends CommandBase {
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double m_power;
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/**
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* Creates a new ShooterSetHoodVBus.
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*/
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public HoodSetVBus(double power) {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.hood);
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m_power = power;
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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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RobotContainer.hood.setVBus(m_power);
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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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}
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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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RobotContainer.hood.setVBus(0.0);
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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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}

‎src/main/java/org/mayheminc/robot2020/commands/HoodZero.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.mayheminc.robot2020.commands;
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import org.mayheminc.robot2020.RobotContainer;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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// NOTE: Consider using this command inline, rather than writing a subclass. For more
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// information, see:
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// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
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public class HoodZero extends InstantCommand {
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public HoodZero() {
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(RobotContainer.hood);
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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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RobotContainer.hood.zero();
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/PrintAutonomousTimeRemaining.java

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package org.mayheminc.robot2020.commands;
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// import org.mayheminc.robot2020.Robot;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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/**
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*
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*/
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public class PrintAutonomousTimeRemaining extends CommandBase {
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String Message = "";
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public PrintAutonomousTimeRemaining(String msg) {
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this.Message = msg;
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}
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// Called just before this Command runs the first time
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@Override
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public void initialize() {
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// DriverStation.reportError(Message + " At: " + Robot.autonomousTimeRemaining() + "\n", false);
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}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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public boolean isFinished() {
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return true;
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}
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}

‎src/main/java/org/mayheminc/robot2020/commands/ShooterFireWhenReady.java

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*/
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public ShooterFireWhenReady() {
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// Use addRequirements() here to declare subsystem dependencies.
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// addRequirements(RobotContainer.shooter);
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addRequirements(RobotContainer.shooterWheel);
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addRequirements(RobotContainer.feeder);
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}
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// Called when the command is initially scheduled.

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