Fixed the command (#66)

Co-authored-by: Evan Grinnell <155865196+S0L0GUY@users.noreply.github.com>
Co-authored-by: Wu-Fan-529 <176576491+Wu-Fan-529@users.noreply.github.com>

Author: 3 people

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

@@ -35,7 +35,7 @@ public class RobotContainer {
   private final HasGP com_StageGP = new HasGP(subStager);
   private final Shoot com_Shoot = new Shoot(subStager, subShooter);
   private final intakeHopper com_IntakeHopper = new intakeHopper(subHopper, subStager);
-  private final EjectGP com_EjectGP = new EjectGP(subIntake, subHopper);
+  private final EjectGP com_EjectGP = new EjectGP(subIntake);
 
   public RobotContainer() {
     subDrivetrain.setDefaultCommand(com_Drive);

src/main/java/frc/robot/commands/EjectGP.java

@@ -6,18 +6,15 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
-import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 
 public class EjectGP extends Command {
   /** Creates a new EjectGP. */
 
   Intake globalIntake;
-  Hopper globalHopper;
 
-  public EjectGP(Intake subIntake, Hopper subHopper) {
+  public EjectGP(Intake subIntake) {
     // Use addRequirements() here to declare subsystem dependencies.
-    this.globalHopper = subHopper;
     this.globalIntake = subIntake;
   }
 
@@ -35,7 +32,6 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    globalHopper.setOrientationMotorNuetralOutput();
     globalIntake.setIntakeNuetralOutput();
   }
 

src/main/java/frc/robot/commands/IntakeGround.java

@@ -30,7 +30,7 @@ public void initialize() {
   @Override
   public void execute() {
     // if Stager is full
-    if (globalStager.getHasGP()) {
+    if (!globalStager.getHasGP()) {
       globalIntake.setIntakeVelocity(0);
     } else {
       globalIntake.setIntakeVelocity(Constants.constIntake.INTAKE_VELOCITY);

src/main/java/frc/robot/subsystems/Stager.java

@@ -9,6 +9,7 @@
 // import com.ctre.phoenix6.hardware.TalonSRX;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.RobotMap;
 
@@ -44,5 +45,6 @@ public boolean getHasGP() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    SmartDashboard.putBoolean("hasGP", !getHasGP());
   }
 }