ryan tang finished commands for deposit

Author: tiotuico21

TechnoOneCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/CarryCommand.java

@@ -4,6 +4,7 @@
 
 public class CarryCommand extends DumpVariableCommand {
     public CarryCommand(DepositSubsystem s){
+
         super(s, DepositSubsystem.DepositConstants.CARRY);
     }
     @Override

TechnoOneCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/DumpCommand.java

@@ -10,6 +10,6 @@ public DumpCommand(DepositSubsystem s){
     }
     @Override
     public boolean isFinished() {
-        return getRuntime().seconds()>0.5;
+        return getRuntime().seconds() > 0.5;
     }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/ArmExtendCommand.java

@@ -1,4 +1,24 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class ArmExtendCommand {
+import com.technototes.library.command.Command;
+
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+public class ArmExtendCommand implements Command {
+    public DepositSubsystem subsystem;
+    public ArmExtendCommand(DepositSubsystem s) {
+        subsystem = s;
+        addRequirements(s);
+    }
+
+    @Override
+    public void execute() {
+        subsystem.fullyOut();
+        subsystem.collect();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return getRuntime().seconds() > 1;
+    }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/ArmTranslateCommand.java

@@ -1,4 +1,25 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class ArmTranslateCommand {
+import com.technototes.library.command.Command;
+
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+public class ArmTranslateCommand implements Command {
+    public DepositSubsystem subsystem;
+    public double amount;
+    public ArmTranslateCommand(DepositSubsystem s, double amt) {
+        subsystem = s;
+        amount = amt;
+        addRequirements(s);
+    }
+
+    @Override
+    public void execute() {
+        subsystem.translateExtension(amount);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return getRuntime().seconds() > 0.1;
+    }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/CarryCommand.java

@@ -1,4 +1,16 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class CarryCommand {
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+public class CarryCommand extends DumpVariableCommand {
+    public CarryCommand(DepositSubsystem s) {
+        super(s, DepositSubsystem.DepositConstants.CARRY); // good
+
+    }
+
+    @Override
+    public boolean isFinished() {
+        return true;
+    }
 }
+

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/CollectCommand.java

@@ -1,4 +1,14 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class CollectCommand {
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+public class CollectCommand extends DumpVariableCommand {
+    public CollectCommand(DepositSubsystem s) {
+        super(s, DepositSubsystem.DepositConstants.COLLECT); // yes very good
+    }
+
+    @Override
+    public boolean isFinished() {
+        return true; // ask alex about this
+    }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/DumpCommand.java

@@ -1,4 +1,15 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class DumpCommand {
-}
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+public class DumpCommand extends DumpVariableCommand {
+    // no member variables because idk its already extending idk
+    public DumpCommand(DepositSubsystem s) {
+        super(s, DepositSubsystem.DepositConstants.DUMP); // yes work
+    }
+
+    @Override
+    public boolean isFinished() {
+        return getRuntime().seconds() > 0.5;
+    }
+}

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/deposit/DumpVariableCommand.java

@@ -1,4 +1,35 @@
 package org.firstinspires.ftc.teamcode.commands.deposit;
 
-public class DumpVariableCommand {
+import com.technototes.library.command.Command;
+
+import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
+
+import java.util.function.DoubleSupplier;
+
+public class DumpVariableCommand implements Command {
+    public DepositSubsystem subsystem;
+    public DoubleSupplier supplier;
+    public DumpVariableCommand(DepositSubsystem s, DoubleSupplier pos) {
+        subsystem = s;
+        supplier = pos;
+        addRequirements(s);
+    }
+    public DumpVariableCommand(DepositSubsystem s, double pos) {
+        this(s, ()->pos);
+    }
+    @Override
+    public void execute() {
+        subsystem.setDump(supplier.getAsDouble());
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    public void end(boolean cancel) {
+        if (cancel)
+            subsystem.carry();
+    }
 }