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2019robot's Introduction

2019robot's People

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2019robot's Issues

New Instance of Commands every time a button is pressed.

primary.buttonA.whenPressed(new BrakeOnCommand());
primary.buttonA.whenReleased(new BrakeOffCommand());
primary.buttonB.whenPressed(new BoostOnCommand());
primary.buttonB.whenReleased(new BoostOffCommand());
primary.buttonX.whenPressed(new DriveToWallCommand());
XboxController secondary = OI.getSecondaryController();
GrabberStopCommand grabberStopCommand = new GrabberStopCommand();
secondary.buttonA.whenPressed(new GrabberInCommand());
secondary.buttonA.whenReleased(grabberStopCommand);
secondary.buttonB.whenPressed(new GrabberOutCommand());
secondary.buttonB.whenReleased(grabberStopCommand);
secondary.buttonX.whenPressed(new ElevatorDownCommand());
secondary.buttonX.whenReleased(new ElevatorStopCommand());
secondary.buttonY.whenPressed(new ElevatorUpCommand());
secondary.buttonY.whenReleased(new ElevatorStopCommand());
secondary.buttonBumperLeft.whenPressed(new ElevatorChangeCommand(VerticalDirection.UP));
secondary.buttonBumperLeft.whenReleased(new ElevatorChangeCommand(VerticalDirection.STOP));
secondary.buttonBumperRight.whenPressed(new ElevatorChangeCommand(VerticalDirection.DOWN));
secondary.buttonBumperRight.whenReleased(new ElevatorChangeCommand(VerticalDirection.STOP));
secondary.buttonTriggerLeft.whenPressed(new GrabberOpenCommand());
secondary.buttonTriggerLeft.whenReleased(grabberStopCommand);
secondary.buttonTriggerRight.whenPressed(new GrabberCloseCommand());
secondary.buttonTriggerRight.whenReleased(grabberStopCommand);

The current code is making a brand new instance of the command every time any of the button is pressed. It would still work the same if the command were only initialized once and then assigned to the button. This way it's not making brand new instances every time a button is pressed it just reusing the command that is already there. This would require you guys to make a small change to the commands. Not sure who wrote these commands but they should be calling other methods from the execute() method instead of the initialize() method.

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