got rid of canShoot

Team334 · Mar 30, 2024 · dc905ab · dc905ab
1 parent 5f21f02
commit dc905ab
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Showing 3 changed files with 1 addition and 10 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -209,10 +209,9 @@ public void teleopInit() {
 
   /** @return The Command to schedule for auton. */
   public Command getAutonCommand() {
-    AutonShoot.reset();
-
     _swerveSubsystem.fieldOriented = false; // make sure swerve is robot-relative for pathplanner to work
     _shooterSubsystem.setShooterState(ShooterState.IDLE);
+    _intakeSubsystem.setHasNoteAuton(false);
 
     // Command test = new SequentialCommandGroup(
     //   NamedCommands.getCommand("shoot"),

diff --git a/src/main/java/frc/robot/commands/auto/AutonShoot.java b/src/main/java/frc/robot/commands/auto/AutonShoot.java
@@ -24,8 +24,6 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class AutonShoot extends SequentialCommandGroup {
-  public static boolean canShoot = false;
-
   /** Creates a new AutonShoot. */
   public AutonShoot(
     ShooterSubsystem shooter,
@@ -49,11 +47,6 @@ public AutonShoot(
     );
   }
 
-  /** Resets this command for re-testing auton. */
-  public static void reset() {
-    canShoot = false;
-  }
-
   private double headingPreset() {
     return (UtilFuncs.GetAlliance() == Alliance.Red) ? 0 : 180;
   }

diff --git a/src/main/java/frc/robot/commands/intake/FeedActuate.java b/src/main/java/frc/robot/commands/intake/FeedActuate.java
@@ -2,7 +2,6 @@
 package frc.robot.commands.intake;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.commands.auto.AutonShoot;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.ActuatorState;
 import frc.robot.subsystems.IntakeSubsystem.FeedMode;