Fix shooter override & constructor configuration

Gears-and-Buccaneers · Apr 4, 2024 · 580994d · 580994d
1 parent 65d6195
commit 580994d
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Showing 2 changed files with 23 additions and 28 deletions.
diff --git a/src/main/java/frc/Robot.java b/src/main/java/frc/Robot.java
@@ -35,7 +35,7 @@
 import frc.cmd.*;
 
 public class Robot extends TimedRobot {
-    public static boolean isRedAlliance;
+    public static boolean isRedAlliance = false;
 
     SendableChooser<Command> autonomousChooser = new SendableChooser<>();
 
@@ -53,35 +53,15 @@ public class Robot extends TimedRobot {
     private final Shooter shooter = new Shooter(subsystemsTable);
     private final Pivot pivot = new Pivot(subsystemsTable);
 
-    // Commands
+    // public Robot() {
+        // ! DO NOT USE
+    // }
 
     // Utilities
     static double squareInput(double input) {
         return Math.copySign(input * input, input);
     }
 
-    public Robot() {
-        // Register alliance
-        isRedAlliance = DriverStation.getAlliance().filter(a -> a == Alliance.Red).isPresent();
-        configButtonBindings();
-        // Add to NetworkTables for verification
-        SmartDashboard.putBoolean("isRedAlliance", isRedAlliance);
-
-        // ------------------- Logging -------------------
-        DataLogManager.start();
-        DriverStation.startDataLog(DataLogManager.getLog());
-
-        if (isSimulation()) {
-            DriverStation.silenceJoystickConnectionWarning(true);
-        }
-
-        PortForwarder.add(5800, "photonvision.local", 5800);
-        configNamedCommands();
-        autonomousChooser = AutoBuilder.buildAutoChooser();
-        configAutos();
-
-    }
-
     // TODO: add comments
     private class Commands {
         Command rumble(RumbleType type, double strength, double duration,
@@ -270,6 +250,24 @@ private void configNamedCommands() {
 
     @Override
     public void robotInit() {
+        // Register alliance
+        isRedAlliance = DriverStation.getAlliance().filter(a -> a == Alliance.Red).isPresent();
+        // Add to NetworkTables for verification
+        SmartDashboard.putBoolean("isRedAlliance", isRedAlliance);
+        configButtonBindings();
+
+        // ------------------- Logging -------------------
+        DataLogManager.start();
+        DriverStation.startDataLog(DataLogManager.getLog());
+
+        if (isSimulation()) {
+            DriverStation.silenceJoystickConnectionWarning(true);
+        }
+
+        PortForwarder.add(5800, "photonvision.local", 5800);
+        configNamedCommands();
+        autonomousChooser = AutoBuilder.buildAutoChooser();
+        configAutos();
     }
 
     @Override

diff --git a/src/main/java/frc/system/Shooter.java b/src/main/java/frc/system/Shooter.java
@@ -26,9 +26,6 @@ public class Shooter implements LoggedSubsystems {
     /** the sub table where all logging for Shooter should go */
     private final NetworkTable shooterTable;
 
-    /** the speed for shooting in Speaker */
-    public double speakerSpeed;
-
     private final DoublePublisher setShooterSpeed;
     // Vars
     /** The maximum voltage to apply to the shooter motors. */
@@ -37,7 +34,7 @@ public class Shooter implements LoggedSubsystems {
     /** the max RMP of the shooting wheals */
     private final double maxShooterSpeed = 6000;
     /** the default Speaker RMP for shooting */
-    private final double defaultSpeakerSpeed = 5000;
+    private final double speakerSpeed = 5000;
     /** amount of acceptable error for shooter in RPM */
     private final double deadBand = 250;