renamed shooter command

src/main/java/frc/robot/RobotContainer.java

@@ -8,7 +8,7 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.ShooterBaseCommand;
+import frc.robot.commands.ShooterEnable;
 import frc.robot.subsystems.shooter.ShooterIOSim;
 import frc.robot.subsystems.shooter.ShooterSubsystem;
 
@@ -30,14 +30,13 @@ public RobotContainer() {
       shooter = new ShooterSubsystem(new ShooterIOSim());
     }
 
-    shooter.setDefaultCommand(new InstantCommand(() -> shooter.disable(), shooter));
-
     configureBindings();
   }
 
   private void configureBindings() {
-    controller.rightTrigger().onTrue(new ShooterBaseCommand(shooter, () -> true));
-    controller.rightTrigger().onFalse(shooter.getDefaultCommand());
+    shooter.setDefaultCommand(new InstantCommand(() -> shooter.disable(), shooter));
+
+    controller.rightTrigger().whileTrue(new ShooterEnable(shooter));
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/ShooterBaseCommand.java → src/main/java/frc/robot/commands/ShooterEnable.java

@@ -7,17 +7,14 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.shooter.ShooterSubsystem;
 import java.util.Map;
-import java.util.function.BooleanSupplier;
 
-public class ShooterBaseCommand extends Command {
+public class ShooterEnable extends Command {
   ShooterSubsystem shooter;
-  BooleanSupplier enable;
   ShuffleboardTab tab;
   GenericEntry voltsEntry;
 
-  public ShooterBaseCommand(ShooterSubsystem shooter, BooleanSupplier enable) {
+  public ShooterEnable(ShooterSubsystem shooter) {
     this.shooter = shooter;
-    this.enable = enable;
 
     // create shooter tab on ShuffleBoard
     tab = Shuffleboard.getTab("Shooter");
@@ -35,29 +32,17 @@ public ShooterBaseCommand(ShooterSubsystem shooter, BooleanSupplier enable) {
   }
 
   @Override
-  public void initialize() {
-    // disable shooter when initialize
-    shooter.disable();
-  }
+  public void initialize() {}
 
   @Override
   public void execute() {
-    // Turns on motors if right trigger is fully pressed. else the motors turn off.
-    if (enable.getAsBoolean() == true) {
-      // Checks the volt Entry for the volt and sets the voltage of motors
-      shooter.setVoltage(voltsEntry.getDouble(0.0));
-
-      // Enable motors, It has to be called regularly for voltage compensation to work properly
-      shooter.enable();
-    } else {
-      // Disable the shooters
-      shooter.disable();
-    }
+    // Checks the volt Entry for the volt and sets the voltage of motors
+    shooter.setVoltage(voltsEntry.getDouble(0.0));
+
+    // Enable motors, It has to be called regularly for voltage compensation to work properly
+    shooter.enable();
   }
 
   @Override
-  // disable shooter when it ends.
-  public void end(boolean interrupted) {
-    shooter.disable();
-  }
+  public void end(boolean interrupted) {}
 }