merge changes woohoo

Author: PatribotsProgramming

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

@@ -74,16 +74,6 @@ private void configureButtonBindings() {
                 .onTrue(
                         setDriveSpeed(DriveConstants.MAX_TELEOP_SPEED_METERS_PER_SECOND));
 
-       (DONE) Make a trigger so then when the current GAME_MODE 
-        is equal to AUTONOMOUS then set the drive speed to MAX_SPEED_METERS_PER_SECOND
-        
-       (DONE) Create a trigger like the one above so that 
-        while the "a" button is been pressed, 
-            set the drive speed to ALIGNMENT_SPEED
-        and when the "a" button has not been pressed, 
-            set the drive speed to MAX_TELEOP_SPEED_METERS_PER_SECOND
-        
-
         driver.y().or(driver.x()).onTrue(
                 Commands.runOnce(() -> swerve.resetOdometry(
                         new Pose2d(
@@ -99,11 +89,11 @@ private void configureButtonBindings() {
         );
 
         driver.a().onTrue(
-          setDriveSpeed(ALIGNMENT_SPEED)  
+          setDriveSpeed(FieldConstants.ALIGNMENT_SPEED)  
         );
 
         driver.a().onFalse(
-            setDriveSpeed(MAX_TELEOP_SPEED_METERS_PER_SECOND)
+            setDriveSpeed(DriveConstants.MAX_TELEOP_SPEED_METERS_PER_SECOND)
         );
 
         driver.leftBumper().onTrue(
@@ -114,28 +104,14 @@ private void configureButtonBindings() {
             swerve.toggleSpeed()
         );
 
-        driver.leftStick().onTrue(
-            claw.setSpeed(driver.getLeftTriggerAxis)
+        driver.leftStick().whileTrue(
+            Commands.runOnce(() -> claw.setSpeed(driver.getLeftTriggerAxis()))
         );
 
-        driver.rightStick.onTrue(
-            claw.setSpeed(driver.getRightTriggerAxis)
+        driver.rightStick().whileTrue(
+            Commands.runOnce(() -> claw.setSpeed(driver.getRightTriggerAxis()))
         );
 
-        (DONE)Create a trigger so while the leftBumper is pressed, 
-            run the command in swerve, getSetWheelsX
-
-        (DONE) Create another trigger so 
-            the swerve runs the toggleSpeed command in swerve 
-            when the leftStick toggles to true
-            hint (use the toggleOnTrue method)
-        
-
-        (Done)Create two triggers so while the left and right triggers are true, 
-            set the desired claw speed 
-            to their respective left and right trigger axies
-
-
     }
 
     private CommandBase setDriveSpeed(double desiredSpeedMetersPerSecond) {

src/main/java/frc/robot/commands/Drive.java

@@ -39,7 +39,9 @@ public Drive(
         addRequirements(swerve);
     }
 
-    public Drive(Swerve swerve, Supplier<ChassisSpeeds> speeds, BooleanSupplier fieldRelativeSupplier,
+    public Drive(Swerve swerve, 
+            Supplier<ChassisSpeeds> speeds, 
+            BooleanSupplier fieldRelativeSupplier,
             BooleanSupplier shouldMirror) {
 
         this.swerve = swerve;

src/main/java/frc/robot/subsystems/Claw.java

@@ -2,21 +2,17 @@
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
-import java.util.function.DoubleSupplier;
-
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.Neo;
 
 public class Claw extends SubsystemBase {
 
     private final CANSparkMax claw;
-    private double desiredSpeed = 0;
 
     public Claw() {
 
-        // TODO: set claw can id
-        claw = new Neo(100);
+        set claw can id
+        claw = new Neo(/*can id goes here*/);
         claw.restoreFactoryDefaults();
 
         claw.setSmartCurrentLimit(30);
@@ -29,8 +25,6 @@ public Claw() {
 
     }
 
-   
-
     public void setSpeed(double speed) {
         claw.set(-speed);
     }
@@ -42,21 +36,4 @@ public void setBrakeMode() {
     public void setCoastMode() {
         claw.setIdleMode(CANSparkMax.IdleMode.kCoast);
     }
-
-    public void setDesiredSpeed(double speed) {
-        this.desiredSpeed = speed;
-    }
-
-    public void stopClaw() {
-        this.desiredSpeed = 0;
-    }
-
-    public double getDesiredSpeed() {
-        return this.desiredSpeed;
-    }
-
-    public Command setDesiredSpeedCommand(DoubleSupplier speed) {
-        return null;
-    }
-
 }