From 984474fecea55476399f1ff0195dedb3489efb3d Mon Sep 17 00:00:00 2001
From: AvidCoder27 <gilireeves@gmail.com>
Date: Wed, 7 Aug 2024 15:50:10 -0400
Subject: [PATCH] move registerCommands to RobotContainer

---
 .../java/frc/team5115/RobotContainer.java     | 31 ++++++++++++++-
 .../frc/team5115/commands/AutoCommands.java   | 38 -------------------
 2 files changed, 29 insertions(+), 40 deletions(-)
 delete mode 100644 src/main/java/frc/team5115/commands/AutoCommands.java

diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
index 7a34695..4b543a2 100644
--- a/src/main/java/frc/team5115/RobotContainer.java
+++ b/src/main/java/frc/team5115/RobotContainer.java
@@ -1,13 +1,14 @@
 package frc.team5115;
 
 import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.team5115.commands.AutoCommands;
 import frc.team5115.commands.DriveCommands;
 import frc.team5115.subsystems.amper.Amper;
 import frc.team5115.subsystems.amper.AmperIO;
@@ -113,7 +114,7 @@ public RobotContainer() {
 
         // Register auto commands for pathplanner
         // PhotonVision is passed in here to prevent warnings, i.e. "unused variable: vision"
-        AutoCommands.registerCommands(drivetrain, vision, arm, amper, intake, feeder, shooter);
+        registerCommands(drivetrain, vision, arm, amper, intake, feeder, shooter);
 
         // Set up auto routines
         autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
@@ -185,6 +186,32 @@ private void configureButtonBindings() {
                 .onFalse(DriveCommands.triggerAmp(arm, amper, intake, feeder));
     }
 
+    /**
+     * Registers commands for pathplanner to use in autos
+     *
+     * @param shooter the shooter subsystem
+     * @param arm the arm subsystem
+     * @param drivetrain the drivetrain subsytem (not currently used)
+     * @param photonVision the photonvision subsystem (not currently used)
+     */
+    public static void registerCommands(
+            Drivetrain drivetrain,
+            PhotonVision vision,
+            Arm arm,
+            Amper amper,
+            Intake intake,
+            Feeder feeder,
+            Shooter shooter) {
+        NamedCommands.registerCommand(
+                "InitialShoot",
+                DriveCommands.prepareShoot(arm, intake, feeder, shooter, 15, 5000)
+                        .andThen(DriveCommands.feed(intake, feeder)));
+        NamedCommands.registerCommand("Intake", DriveCommands.intakeUntilNote(arm, intake, feeder));
+        NamedCommands.registerCommand("Shoot", DriveCommands.feed(intake, feeder));
+        NamedCommands.registerCommand(
+                "PrepareClose", DriveCommands.prepareShoot(arm, intake, feeder, shooter, 15, 5000));
+    }
+
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *
diff --git a/src/main/java/frc/team5115/commands/AutoCommands.java b/src/main/java/frc/team5115/commands/AutoCommands.java
deleted file mode 100644
index db7cca9..0000000
--- a/src/main/java/frc/team5115/commands/AutoCommands.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package frc.team5115.commands;
-
-import com.pathplanner.lib.auto.NamedCommands;
-import frc.team5115.subsystems.amper.Amper;
-import frc.team5115.subsystems.arm.Arm;
-import frc.team5115.subsystems.drive.Drivetrain;
-import frc.team5115.subsystems.feeder.Feeder;
-import frc.team5115.subsystems.intake.Intake;
-import frc.team5115.subsystems.shooter.Shooter;
-import frc.team5115.subsystems.vision.PhotonVision;
-
-public class AutoCommands {
-    /**
-     * Registers commands for pathplanner to use in autos
-     *
-     * @param shooter the shooter subsystem
-     * @param arm the arm subsystem
-     * @param drivetrain the drivetrain subsytem (not currently used)
-     * @param photonVision the photonvision subsystem (not currently used)
-     */
-    public static void registerCommands(
-            Drivetrain drivetrain,
-            PhotonVision vision,
-            Arm arm,
-            Amper amper,
-            Intake intake,
-            Feeder feeder,
-            Shooter shooter) {
-        NamedCommands.registerCommand(
-                "InitialShoot",
-                DriveCommands.prepareShoot(arm, intake, feeder, shooter, 15, 5000)
-                        .andThen(DriveCommands.feed(intake, feeder)));
-        NamedCommands.registerCommand("Intake", DriveCommands.intakeUntilNote(arm, intake, feeder));
-        NamedCommands.registerCommand("Shoot", DriveCommands.feed(intake, feeder));
-        NamedCommands.registerCommand(
-                "PrepareClose", DriveCommands.prepareShoot(arm, intake, feeder, shooter, 15, 5000));
-    }
-}