final subsystem draft

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,12 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/SendableChooser[0]": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -25,7 +25,7 @@ public class Robot extends TimedRobot {
   public static Alliance initAllianceColor = Alliance.Blue;
 
   private void checkDSUpdate() {
-    Alliance currentAlliance = DriverStation.getAlliance().get();
+    Alliance currentAlliance = DriverStation.getAlliance().orElse(Alliance.Blue);
     // If we have data, and have a new alliance from last time
     if (DriverStation.isDSAttached() && currentAlliance != Alliance.Blue) {
       initAllianceColor = currentAlliance;

src/main/java/frc/robot/RobotContainer.java

@@ -88,7 +88,6 @@ public RobotContainer() {
 
   private void configureShuffleBoardBindings(){
     m_chooser.addOption("Run on Fly", m_runOnTheFly);
-    m_chooser.addOption("Test Path", m_trajectoryConfig.followPathGui("Double Path"));
     m_chooser.addOption("Move to Note", m_moveToNote);
     m_chooser.addOption("Score Speaker", scoreSpeaker);
     m_chooser.addOption("Score Amp", scoreAmp);

src/main/java/frc/robot/commands/IntakeCommands/IntakeDown.java

@@ -14,7 +14,7 @@ public class IntakeDown extends Command {
   public IntakeDown(Intake intake) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_Intake = intake;
-    addRequirements(m_Intake);
+    addRequirements(intake);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/IntakeCommands/IntakeUp.java

@@ -14,7 +14,7 @@ public class IntakeUp extends Command {
   public IntakeUp(Intake intake) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_Intake = intake;
-    addRequirements(m_Intake);
+    addRequirements(intake);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/IntakeCommands/MoveRollers.java

@@ -14,7 +14,7 @@ public class MoveRollers extends Command {
   public MoveRollers(Intake intake) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_Intake = intake;
-    addRequirements(m_Intake);
+    addRequirements(intake);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/ShooterCommands/ShootNoteAmp.java

@@ -14,7 +14,7 @@ public class ShootNoteAmp extends Command {
   public ShootNoteAmp(Shooter shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_shooter = shooter;
-    addRequirements(m_shooter);
+    addRequirements(shooter);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/ShooterCommands/ShootNoteSpeaker.java

@@ -14,7 +14,7 @@ public class ShootNoteSpeaker extends Command {
   public ShootNoteSpeaker(Shooter shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_Shooter = shooter;
-    addRequirements(m_Shooter);
+    addRequirements(shooter);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/ShooterCommands/ShooterLeftMotor.java

@@ -14,7 +14,7 @@ public class ShooterLeftMotor extends Command {
   public ShooterLeftMotor(Shooter shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_shooter = shooter;
-    addRequirements(m_shooter);
+    addRequirements(shooter);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc/robot/commands/ShooterCommands/ShooterRightMotor.java

@@ -14,7 +14,7 @@ public class ShooterRightMotor extends Command {
   public ShooterRightMotor(Shooter shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_shooter = shooter; 
-    addRequirements(m_shooter);
+    addRequirements(shooter);
   }
 
   // Called when the command is initially scheduled.