PID Shooter system Error

[aolney]

I am new to Java programming, so bear with me. I have written a subsystem command for a PID shooter, which is all error free. I then tried to map the command to a button in RobotContainer, and I get an error where I map the command to a joystick button. The error says “The method whenActive(Command) in the type Trigger is not applicable for the arguments (ShooterStart)Java(67108979).” Any help would be appreciated! Code is copied below.

package frc.robot;

import edu.wpi.first.wpilibj.GenericHID;

import edu.wpi.first.wpilibj.Joystick;

import edu.wpi.first.wpilibj.XboxController;

import edu.wpi.first.wpilibj.buttons.JoystickButton;

import frc.robot.commands.CG_Fire;

import frc.robot.commands.ShooterStart;

import frc.robot.commands.TankDrive;

import frc.robot.subsystems.DriveTrain;

import frc.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj2.command.Command;

/**

• This class is where the bulk of the robot should be declared. Since Command-based is a

• “declarative” paradigm, very little robot logic should actually be handled in the {@link Robot}

• periodic methods (other than the scheduler calls). Instead, the structure of the robot

• (including subsystems, commands, and button mappings) should be declared here.

*/

public class RobotContainer {

// The robot’s subsystems and commands are defined here…

private final DriveTrain m_drivetrain = new DriveTrain();

public static Shooter shooter = new Shooter();

private final TankDrive m_autoCommand = new TankDrive(null, null, m_drivetrain);

private final ShooterStart shooterstart = new ShooterStart(5400);

private final Joystick rightJoystick = new Joystick(Constants.RIGHTJOYSTICK_ID);

/**

• The container for the robot. Contains subsystems, OI devices, and commands.

*/

public RobotContainer() {

// Configure the button bindings

configureButtonBindings();

}

/**

• Use this method to define your button->command mappings. Buttons can be created by

• instantiating a {@link GenericHID} or one of its subclasses ({@link

• edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a

• {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.

*/

private void configureButtonBindings() {

final JoystickButton rightTriggerButton = new JoystickButton(rightJoystick, 1);

rightTriggerButton.whenActive(shooterstart);

}

[jdao]

What is ShooterStart? Can you post the code for that?

[aolney]

Here is the ShooterStart command.

package frc.robot.commands;

import com.ctre.phoenix.motorcontrol.ControlMode;

import edu.wpi.first.wpilibj2.command.CommandBase;

import frc.robot.Constants;

import frc.robot.RobotContainer;

public class ShooterStart extends CommandBase {

double rpm = 0;

/**

 * Creates a new ShooterStart.

 */

public ShooterStart(double rpm) {

    addRequirements(RobotContainer.shooter);

    this.rpm = rpm;

    // Use addRequirements() here to declare subsystem dependencies.

}

// Called when the command is initially scheduled.

@Override

public void initialize() {

    RobotContainer.shooter.setRampRate(true);

    System.out.println("===================");

}

// Called every time the scheduler runs while the command is scheduled.

@Override

public void execute() {

// RobotContainer.shooter.set(ControlMode.PercentOutput, 0.57);

       RobotContainer.shooter.set(ControlMode.Velocity,rpm /10 /60 * Constants.SHOOTER_PULSES_PER_ROTATION);

    System.out.println("shooter," + rpm + "," + RobotContainer.shooter.getRPM());

    if (RobotContainer.shooter.getRPM() > 1500){

        RobotContainer.shooter.setRampRate(false);

    }

}

// Called once the command ends or is interrupted.

@Override

public void end(boolean interrupted) {

    RobotContainer.shooter.set(ControlMode.PercentOutput, 0);

}

// Returns true when the command should end.

@Override

public boolean isFinished() {

    return RobotContainer.shooter.getRPM() >= 7000;

}

}

[Oblarg]

You’re attempting to use the JoystickButton class from the old command framework with a command from the new command framework. This will not work.

Delete the WPILibOldCommands from your vendordeps folder and fix the imports accordingly.

[aolney]

That worked. Thank you so much!

[Oblarg]

Glad it worked!

In the future, please wrap your code blocks in triple backticks for proper formatting:

```java
your code here
```