From d6d1c6ce793363bd7689184d2b8e869ee47f8097 Mon Sep 17 00:00:00 2001
From: Jonah Snider <jonah@jonahsnider.com>
Date: Fri, 1 Apr 2022 15:18:00 -0700
Subject: [PATCH] Fix swiffer command end behavior

---
 simgui-window.json                                  |  5 +++++
 simgui.json                                         |  1 +
 src/main/java/frc/robot/RobotContainer.java         |  4 ++--
 .../swiffer/commands/SwifferCommand.java            | 13 +------------
 4 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/simgui-window.json b/simgui-window.json
index e10cbf2..5090cfd 100644
--- a/simgui-window.json
+++ b/simgui-window.json
@@ -36,6 +36,11 @@
       "Pos": "1411,747",
       "Size": "170,274"
     },
+    "###DIO": {
+      "Collapsed": "0",
+      "Pos": "1677,877",
+      "Size": "195,86"
+    },
     "###FMS": {
       "Collapsed": "0",
       "Pos": "414,437",
diff --git a/simgui.json b/simgui.json
index c2cecd1..62a793e 100644
--- a/simgui.json
+++ b/simgui.json
@@ -4,6 +4,7 @@
       "0": {
         "columns": 8
       },
+    "DIO": {
       "window": {
         "visible": true
       }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 58d45cd..06900cd 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -184,10 +184,10 @@ private void configureCopilotButtonBindings() {
     copilotController.aButton.whenHeld(new UpperHubAlignCommand(driveSubsystem, localization));
 
     // Snarfing
-    copilotController.rightTrigger.whileHeld(new ArmDownAndSnarfCommand(superstructureSubsystem));
+    copilotController.rightTrigger.whenHeld(new ArmDownAndSnarfCommand(superstructureSubsystem));
 
     // Shooting
-    copilotController.leftTrigger.whileHeld(
+    copilotController.leftTrigger.whenHeld(
         new ArmUpAndSwifferShootCommand(superstructureSubsystem));
   }
 
diff --git a/src/main/java/frc/robot/superstructure/swiffer/commands/SwifferCommand.java b/src/main/java/frc/robot/superstructure/swiffer/commands/SwifferCommand.java
index 5f5ef14..db2ca9f 100644
--- a/src/main/java/frc/robot/superstructure/swiffer/commands/SwifferCommand.java
+++ b/src/main/java/frc/robot/superstructure/swiffer/commands/SwifferCommand.java
@@ -26,19 +26,8 @@ public void initialize() {
     swiffer.setDesiredMode(mode);
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    swiffer.setDesiredMode(SwifferMode.STOPPED);
-  }
-
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return swiffer.atGoal(mode);
+    return false;
   }
 }