Add SwerveDriveStop

StuyPulse · Apr 11, 2024 · c2279f5 · c2279f5
1 parent 01301a3
commit c2279f5
Show file tree

Hide file tree

Showing 5 changed files with 24 additions and 5 deletions.
diff --git a/src/main/java/com/stuypulse/robot/commands/auton/Ferry/TopFerry.java b/src/main/java/com/stuypulse/robot/commands/auton/Ferry/TopFerry.java
@@ -6,6 +6,7 @@
 import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine;
 import com.stuypulse.robot.commands.shooter.ShooterPodiumShot;
 import com.stuypulse.robot.commands.shooter.ShooterSetRPM;
+import com.stuypulse.robot.commands.swerve.SwerveDriveStop;
 import com.stuypulse.robot.commands.swerve.SwerveDriveToPose;
 import com.stuypulse.robot.commands.swerve.SwerveDriveToShoot;
 import com.stuypulse.robot.constants.Settings;
@@ -37,13 +38,13 @@ public TopFerry(PathPlannerPath... paths) {
 
             // shoot D, intake E
             SwerveDrive.getInstance().followPathCommand(paths[1]),
-            new InstantCommand(() -> SwerveDrive.getInstance().stop()),
+            new SwerveDriveStop(),
             new ConveyorShootRoutine(),
             new FollowPathAndIntake(paths[2]),
 
             // shoot E, intake F
             SwerveDrive.getInstance().followPathCommand(paths[3]),
-            new InstantCommand(() -> SwerveDrive.getInstance().stop()),
+            new SwerveDriveStop(),
             new ConveyorShootRoutine(),
             new ShooterPodiumShot(),
 

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAndIntake.java b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAndIntake.java
@@ -2,6 +2,7 @@
 
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.stuypulse.robot.commands.intake.IntakeAcquire;
+import com.stuypulse.robot.commands.swerve.SwerveDriveStop;
 import com.stuypulse.robot.constants.Settings.Auton;
 import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
 
@@ -25,7 +26,7 @@ public FollowPathAndIntake(PathPlannerPath path, double intakeTimeout) {
                     .andThen(new WaitCommand(intakeTimeout))
             ),
 
-            new InstantCommand(() -> SwerveDrive.getInstance().stop(), SwerveDrive.getInstance())
+            new SwerveDriveStop()
         );
     }
 

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAndIntake.java b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAndIntake.java
@@ -2,6 +2,7 @@
 
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.stuypulse.robot.commands.intake.IntakeAcquire;
+import com.stuypulse.robot.commands.swerve.SwerveDriveStop;
 import com.stuypulse.robot.constants.Settings.Auton;
 import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
 
@@ -25,7 +26,7 @@ public FollowPathTrackingAndIntake(PathPlannerPath path, double intakeTimeout) {
                     .andThen(new WaitCommand(intakeTimeout))
             ),
 
-            new InstantCommand(() -> SwerveDrive.getInstance().stop())
+            new SwerveDriveStop()
         );
     }
 

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathWithShootAndIntake.java b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathWithShootAndIntake.java
@@ -4,6 +4,7 @@
 import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine;
 import com.stuypulse.robot.commands.intake.IntakeAcquire;
 import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget;
+import com.stuypulse.robot.commands.swerve.SwerveDriveStop;
 import com.stuypulse.robot.constants.Settings.Auton;
 import com.stuypulse.robot.subsystems.intake.Intake;
 import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
@@ -33,7 +34,7 @@ public FollowPathWithShootAndIntake(PathPlannerPath path, double shootTime, doub
                 )
             ),
 
-            new InstantCommand(() -> SwerveDrive.getInstance().stop(), SwerveDrive.getInstance())
+            new SwerveDriveStop()
         );
     }
 

diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveStop.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveStop.java
@@ -0,0 +1,15 @@
+package com.stuypulse.robot.commands.swerve;
+
+import com.stuypulse.robot.subsystems.swerve.SwerveDrive;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class SwerveDriveStop extends InstantCommand {
+
+    public SwerveDriveStop() {
+        super(() -> SwerveDrive.getInstance().stop());
+
+        addRequirements(SwerveDrive.getInstance());
+    }
+
+}