chrisvieira / magni Goto Github PK

To set the default command of a subsystem, you must use setDefaultCommand(new CommandWhatever());

The following code will only set the values of the motors once when the robot is first turned on, then never again:

public void initDefaultCommand() {
arcadeDrive(Robot.oi.joystick);
}

The obstacle arm no longer has a limit switch, so the following code is not needed:

DigitalInput limitSwitch = RobotMap.obstacleArmLimitSwitch;

We re purposed the limit switch for choosing whether to fire during auto.

Most of your commands seem to do nothing (set motors to 0), I can't tell though if you just are doing that as a placeholder, but in that case I would recommend against that as you may leave that there for production code.

In your DriveTrain class, you are creating your own driving program with a detail level on the motors themselves. It is recommended that you use the RobotDrive class to handle these for you as they provide you with methods such as arcadeDrive.

When a method in a class calls another method in the class, you do not need to prefix the method name with an object (in this case Robot.shoooter, you can just use shooterMotors())

Robot.shooter.shooterMotors(speed);

I would also recommend a better method structure in that class, such as removing the shooterMotors method (as it does not have a descriptive name), and putting its code in the spin method.

The following code does the same thing for up and down, one needs to be negative speed.

public void up(double speed) {
kickerMotor.set(speed);
}

public void down(double speed) {
    kickerMotor.set(speed);
}

The following code in DriveTrain produces an infinite loop, as the arcadeDrive method is actually calling itself. To avoid this, use the RobotDrive class which has an arcadeDrive method.

public void arcadeDrive(Joystick joystick) {
Robot.drivetrain.arcadeDrive(joystick);
}

The following methods in DriveTrain do the same thing. I can't tell if the speed is positive for forward or negative, but if you use RobotDrive class, it will be negative for forward.

public void forward(double speed) {
rightDriveTrain(speed);
leftDriveTrain(speed);
}

public void backward(double speed) {
    rightDriveTrain(speed);
    leftDriveTrain(speed);
}