Hello, we are having problems with command based programming. In our code, we are calling the shooting command from robot.java using a lambda, however it never reaches the initialize function within the command.
The lambda-accepting bindings wrap the lambda in an InstantCommand and run that on trigger activation.
So, your code is simply running an InstantCommand that instantiates a ShootingCommand and then exits.
You shouldnât need a lambda for what youâre trying to do. The lambda expression as written essentially runs a command that creates an instance of âShootingCommandâ and then exits. If your goal is to directly run âShootingCommandâ you would want to write:
btn.whenPressed(new ShootingCommand(turret_subsystem, oi.l1(),0.8));
If the reason you are doing this is because you only want oi.l1() to be evaluated when the command actually runs, you could consider passing it in as âoi::l1â instead which will pass the method into the constructor instead of the value that method takes. This is called a method reference. You can then call that method during initialize:
btn.whenPressed(new ShootingCommand(turret_subsystem, oi::l1,0.8));
Another option if method references are too daunting is to just pass oi into the command and call oi.l1() in initialize.
Thanks for the suggestion, and it works great! But now other things arenât working~
Now the command unexpectedly ends itself once it reaches the shooting part;
i think you are calling intake_subsystem but you havenât passed that to ShootingCommand when you initialized it.
can you post the line numbers
Where is intake_subsystem in your command being initialized/passed to the Command. I only see you passing turret_subsystem to your command from your RobotContainer.
Also, in the future, it generally helps make things easier if you upload your entire code project to Github.
Thanks for the suggestion gixxy, but github just reallllllllly hates me for some reason, not allowing me to push or pull from remotes due to a authentication bug.
Do you have 2-factor authentication setup on your account? If so, you need to use a âpersonal access tokenâ instead of your password. https://help.github.com/en/github/authenticating-to-github/accessing-github-using-two-factor-authentication
Beat me to that one. Was a huge pain for me because the school 3468 is at blocks all external ssh
Iâm behind a corporate network proxy⌠I know your pain. Github is virtually unusable here
Anyways, now the command doesnât seem to stop; hereâs the finish code
Can you maybe push your code to another git service (gitlab, bitbucket, etc)? This would be infinitely easier if we could actually see your code
Wrote this to easy my Github ssh/https troubles. https://gist.github.com/gurustave/e7a1df709c2a4258440719c7c27216d4
Hey Fletch, I tried out gitbucket, hereâs the repo for our code;
https://bitbucket.org/A0wn/spoon-test-commands/src/master/
I⌠have a lot of comments. Unfortunately, they all boil down to âplease read the docsâ.
I shouldâve noticed this much earlier. Sorry about that.
First and foremost, these should be in RobotContainer. In fact, you really shouldnât have to touch Robot.java much at all with the ânewâ command-based framework.
To go beyond that, Iâll need to know what your current problem is.
Alrighty, so the shooting command doesnât seem to stop, either due to the timer giving weird values or the buttonpress not returning that the button has stopped being pressed.
Assuming youâre referring to this command: https://bitbucket.org/A0wn/spoon-test-commands/src/937d453bd5765a2f998d463c43dc9942521c4915/src/main/java/frc/robot/Robot.java#lines-126
buttonPressed will ALWAYS be true right now (https://bitbucket.org/A0wn/spoon-test-commands/src/937d453bd5765a2f998d463c43dc9942521c4915/src/main/java/frc/robot/commands/ShootingCommand.java#lines-82), but that doesnât explain why the timer isnât ending. Iâm sure thereâs a logic failure somewhere, but Iâm not seeing it at quick glance. Iâll have to take a deeper dive into this unless someone else beats me to it.
Again, I do recommend reading through the command-based docs and considering starting a new project then copying your logic into that format. If nothing else, itâll be MUCH easier for other teams or CSAs to help you with any issues you might experience at your event(s).
Hey Fletch, thanks alot for your help! The timer happened to magically work again after all of thatâŚ
