created the outline for all commands

Author: BrodyKarr

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

@@ -25,7 +25,10 @@ public class RobotContainer {
   private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);
 
   private final Drivetrain subDrivetrain = new Drivetrain();
-  private final StateMachine subStateMachine = new StateMachine(subDrivetrain);
+  private final Intake subIntake = new Intake();
+  private final Climber subClimber = new Climber();
+  private final Elevator subElevator = new Elevator();
+  private final StateMachine subStateMachine = new StateMachine(subDrivetrain, subIntake, subClimber, subElevator);
   private final RobotPoses robotPose = new RobotPoses(subDrivetrain);
 
   Command TRY_NONE = Commands.deferredProxy(

src/main/java/frc/robot/commands/States/CleanHigh.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class CleanHigh extends Command {
+  StateMachine globalStateMachine;
+
+  public CleanHigh(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/CleanHighWithCoral.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class CleanHighWithCoral extends Command {
+  /** Creates a new CleanHighWithCoral. */
+  StateMachine globalStateMachine;
+
+  public CleanHighWithCoral(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/CleanLow.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class CleanLow extends Command {
+  StateMachine globalStateMachine;
+
+  public CleanLow(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/CleanLowWithCoral.java

@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class CleanLowWithCoral extends Command {
+  /** Creates a new CleanLowWithCoral. */
+  StateMachine globalStateMachine;
+
+  public CleanLowWithCoral(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/Climbing.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Climbing extends Command {
+  StateMachine globalStateMachine;
+
+  public Climbing(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/Ejecting.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class Ejecting extends Command {
+  StateMachine globalStateMachine;
+
+  public Ejecting(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/HasAlgae.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class HasAlgae extends Command {
+  StateMachine globalStateMachine;
+
+  public HasAlgae(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/HasCoral.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class HasCoral extends Command {
+  StateMachine globalStateMachine;
+
+  public HasCoral(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/States/HasCoralAndAlgae.java

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.States;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.StateMachine;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class HasCoralAndAlgae extends Command {
+  StateMachine globalStateMachine;
+
+  public HasCoralAndAlgae(StateMachine globalStateMachine) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalStateMachine = globalStateMachine;
+    addRequirements(globalStateMachine);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}