switch to functional command builder syntax

athenian-robotics · Sep 3, 2023 · f7ae3ca · f7ae3ca
1 parent 368dd12
commit f7ae3ca
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Showing 4 changed files with 12 additions and 14 deletions.
diff --git a/src/main/java/com/arc852/subsystems/Arm.java b/src/main/java/com/arc852/subsystems/Arm.java
@@ -54,9 +54,8 @@ public Arm() {
    * @return command that does the thing
    */
   public Command set(double radians) {
-    return new InstantCommand(
-        () -> pos = MathUtil.clamp(radians, Constants.Arm.MIN_ANGLE, Constants.Arm.MAX_ANGLE),
-        this);
+    return runOnce(
+        () -> pos = MathUtil.clamp(radians, Constants.Arm.MIN_ANGLE, Constants.Arm.MAX_ANGLE));
   }
 
   @Log

diff --git a/src/main/java/com/arc852/subsystems/Elevator.java b/src/main/java/com/arc852/subsystems/Elevator.java
@@ -71,7 +71,7 @@ public Elevator() {
    * @return Command
    */
   public Command set(double percent) {
-    return new InstantCommand(() -> pos = percent * (MAX_HEIGHT - MIN_HEIGHT) + MIN_HEIGHT, this);
+    return runOnce(() -> pos = percent * (MAX_HEIGHT - MIN_HEIGHT) + MIN_HEIGHT);
   }
 
   @Log

diff --git a/src/main/java/com/arc852/subsystems/Grabber.java b/src/main/java/com/arc852/subsystems/Grabber.java
@@ -36,18 +36,18 @@ public Command open() {
   }
 
   public Command close() {
-    return new InstantCommand(
+    return runOnce(
         () -> {
           leftSolenoid.set(true);
           rightSolenoid.set(false);
         });
   }
 
   public Command spinForward() {
-    return new StartEndCommand(() -> motor.set(.2), () -> motor.set(0), this);
+    return startEnd(() -> motor.set(.2), () -> motor.set(0));
   }
 
   public Command spinBackward() {
-    return new StartEndCommand(() -> motor.set(-.2), () -> motor.set(0), this);
+    return startEnd(() -> motor.set(-.2), () -> motor.set(0));
   }
 }
diff --git a/src/main/java/com/arc852/subsystems/Swerve.java b/src/main/java/com/arc852/subsystems/Swerve.java
@@ -177,7 +177,7 @@ public Command autoBalance() {
     pid.setSetpoint(0);
     pid.setTolerance(3);
 
-    return new RunCommand(
+    return run(
         () -> {
           double power = pid.calculate(gyro.getPitch());
           double translationVal = MathUtil.applyDeadband(power, Constants.stickDeadband);
@@ -225,7 +225,7 @@ public Command drive(
     SlewRateLimiter translationLimiter = new SlewRateLimiter(2);
     SlewRateLimiter strafeLimiter = new SlewRateLimiter(2);
 
-    return new RunCommand(
+    return run(
         () -> {
           double translationVal =
               translationLimiter.calculate(
@@ -242,23 +242,22 @@ public Command drive(
               rotationVal * Constants.Swerve.maxAngularVelocity,
               !robotCentricSup.getAsBoolean(),
               true);
-        },
-        this);
+        });
   }
 
   public Command drive(
       DoubleSupplier translationSup, DoubleSupplier strafeSup, Supplier<Rotation2d> rohtation) {
     SlewRateLimiter translationLimiter = new SlewRateLimiter(2);
     SlewRateLimiter strafeLimiter = new SlewRateLimiter(2);
 
-    return new InstantCommand(
+    return runOnce(
             () -> {
               thetaController.reset(getPose().getRotation().getRadians());
               thetaController.setGoal(rohtation.get().getRadians());
               thetaController.setTolerance(0.05);
             })
         .andThen(
-            new RunCommand(
+            run(
                 () -> {
                   double translationVal =
                       translationLimiter.calculate(
@@ -279,7 +278,7 @@ public Command drive(
   }
 
   public Command lockWheels() {
-    return new InstantCommand(
+    return runOnce(
         () -> {
           for (SwerveModule mods : swerveModules) {
             mods.setDesiredState(new SwerveModuleState(0, new Rotation2d(Math.PI)), false);