temporarily fixed syntax errors; must revisit

BitBucketsFRC4183 · Jan 20, 2025 · 6d1c65e · 6d1c65e
1 parent e80084e
commit 6d1c65e
Showing 1 changed file with 19 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/commands/ElevatorSetPointCommand.java b/src/main/java/frc/robot/commands/ElevatorSetPointCommand.java
@@ -15,11 +15,14 @@ public class ElevatorSetPointCommand extends Command {
     // The subsystem the command runs on
     public ElevatorSubsystem m_elevator;
     public Timer time = new Timer();
+public TrapezoidProfile.State profileSetPoint;
+public TrapezoidProfile.State profileGoal;
 
     public ElevatorSetPointCommand(ElevatorSubsystem elevator, double setpoint) {
         m_elevator = elevator;
         addRequirements(m_elevator);
         profileGoal = new TrapezoidProfile.State(setpoint, 0);
+        //you cannot create an object without giving it a class
     }
     @Override
     public void initialize(){
@@ -28,15 +31,23 @@ public void initialize(){
     @Override
     public void execute(){
 
-        profileSetPoint = m_elevator.elevatorProfile.calculate(time.get(), m_elevator.profileSetPoint, m_elevator.profileGoal);
+        profileSetPoint = m_elevator.elevatorProfile.calculate(time.get(), profileSetPoint, profileGoal);
 
-        double calculatedVolts =  this.m_elevator.calculateVoltageForSetpoint(m_elevator.profileSetPoint.position);
+        /* many variables not initialized or defined properly
+        must initalize variables properly
+        * profileSetPoint = m_elevator.elevatorProfile.calculate(time.get(), m_elevator.profileSetPoint, m_elevator.profileGoal);
+        * ^^there is no definition of profileSetPoint within another m_elevator
+        * */
+        //TODO fix calculatedVolts
 
-        Logger.recordOutput("ElevatorSubsystem/target_velocity", m_elevator.profileSetPoint.velocity);
-        Logger.recordOutput("ElevatorSubsystem/target_position", m_elevator.profileSetPoint.position);
-        Logger.recordOutput("ElevatorSubsystem/target_voltage", calculatedVolts);
+        //double calculatedVolts =  this.calculateVoltageForSetpoint(profileSetPoint.position);
+        //cannot use this. statements when the method doesn't exist
 
-        this.m_elevator.setElevatorVoltage(calculatedVolts);
+        Logger.recordOutput("ElevatorSubsystem/target_velocity", profileSetPoint.velocity);
+        Logger.recordOutput("ElevatorSubsystem/target_position", profileSetPoint.position);
+        //Logger.recordOutput("ElevatorSubsystem/target_voltage", calculatedVolts);
+
+        //this.m_elevator.setElevatorVoltage(calculatedVolts);
 
     }
 
@@ -48,5 +59,7 @@ public void end(boolean interrupted) {
     }
 }
 
+//TODO
+