moved drawbridige up to reverse trap sequence

LakotaRobotics1038 · Apr 13, 2024 · 9fdfc41 · 9fdfc41
1 parent 09c20a1
commit 9fdfc41
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/commands/LiftUpCommand.java b/src/main/java/frc/robot/commands/LiftUpCommand.java
@@ -3,12 +3,10 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.constants.LiftConstants;
-import frc.robot.subsystems.Drawbridge;
 import frc.robot.subsystems.Lift;
 
 public class LiftUpCommand extends Command {
     private Lift lift = Lift.getInstance();
-    private Drawbridge drawbridge = Drawbridge.getInstance();
 
     public LiftUpCommand() {
         addRequirements(lift);
@@ -39,6 +37,5 @@ public boolean isFinished() {
     public void end(boolean interrupted) {
         lift.enableRatchets();
         lift.disable();
-        drawbridge.up();
     }
 }
diff --git a/src/main/java/frc/robot/commands/ReverseTrapSequenceCommand.java b/src/main/java/frc/robot/commands/ReverseTrapSequenceCommand.java
@@ -3,7 +3,6 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import frc.robot.commands.ScoringElevatorPositionCommand.FinishActions;
-import frc.robot.constants.ScoringConstants.ScoringLocation;
 import frc.robot.subsystems.Lift;
 import frc.robot.subsystems.ScoringElevator.ElevatorSetpoints;
 
@@ -20,6 +19,7 @@ public ReverseTrapSequenceCommand() {
                                                 () -> lift.getLeftPosition() >= liftTrapPosition
                                                         && lift.getRightPosition() >= liftTrapPosition),
                                         new ScoringElevatorPositionCommand(ElevatorSetpoints.Ground,
-                                                FinishActions.NoDisable))));
+                                                FinishActions.NoDisable))),
+                new DrawbridgeUpCommand());
     }
 }