Handle balls 2 by tnrz135 · Pull Request #24 · GreenBlitz/Rapid-Reee-2022

tnrz135 · 2025-08-24T11:39:57Z

No description provided.

rys4590 · 2025-08-24T13:25:02Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+	/**
+	 * this command checks if an enemy ball is trying to enter the Funnel,
+	 * and if so it is rejecting it from entering the funnel system using a
+	 * color sensor to check the color
+	 *
+	 * @see com.revrobotics.ColorSensorV3 colorSensor.
+	 * @see Indexing Subsystem
+	 */


not comments, the command name should say that instead.

rys4590 · 2025-08-24T13:26:07Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+	@Override
+	public void execute() {
+		SmartDashboard.putBoolean("isBallInFunnel", isBallInFunnel);
+		SmartDashboard.putBoolean("isEnemyBallUnSensor", index.isEnemyBallInSensor());


Suggested change

SmartDashboard.putBoolean("isEnemyBallUnSensor", index.isEnemyBallInSensor());

SmartDashboard.putBoolean("isEnemyBallInSensor", index.isEnemyBallInSensor());

change the original name too, cause uh you have atypo

rys4590 · 2025-08-24T13:27:33Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+			isBallInFunnel = false;
+		}
+
+		if (index.isEnemyBallInSensor()) {


you said team's
so follow the same suit with enemy's for this.

Suggested change

if (index.isEnemyBallInSensor()) {

if (index.isEnemysBallInSensor()) {

rys4590 · 2025-08-24T13:28:09Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+			if (DigitalInputMap.getInstance().getValue(0) || isBallInFunnel) {
+				isBallInFunnel = false;
+				SmartDashboard.putBoolean("isEvacuatingFromShooter", false);
+				//back direction


remove commit, your code should speak for itself.

Suggested change

//back direction

rys4590 · 2025-08-24T13:28:35Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+						new ReverseRunFunnel().raceWith(new WaitCommand(0.2))
+				).andThen(new RunFunnel().until(() -> DigitalInputMap.getInstance().getValue(0))).schedule(false);
+			} else {
+				//shooter evacuation


remove comment, your code should speak for itself.

Suggested change

//shooter evacuation

rys4590 · 2025-08-24T13:32:57Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/EjectEnemyBallFromGripper.java

+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+
+public class EjectEnemyBallFromGripper extends ParallelRaceGroup { //todo can be deadline


No todo :D
decide if its deadline or not, and change accordingly, then delete comment.

rys4590 · 2025-08-24T13:34:33Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/EjectEnemyBallFromGripper.java

+public class EjectEnemyBallFromGripper extends ParallelRaceGroup { //todo can be deadline
+	public EjectEnemyBallFromGripper() {
+		addCommands(
+				new WaitCommand(1.5),


what does the number represent? Use a const.

rys4590 · 2025-08-24T13:34:56Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+			} else {
+				//shooter evacuation
+				SmartDashboard.putBoolean("isEvacuatingFromShooter", true);
+				new ShooterEvacuate().raceWith(new WaitCommand(5)).schedule(false);


what does the number represent? const instead please.

rys4590 · 2025-08-24T13:35:41Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+				new ParallelDeadlineGroup(
+						new WaitCommand(0.5),
+						new ReverseRunRoller(),
+						new ReverseRunFunnel().raceWith(new WaitCommand(0.2))


what do these number represent?
use a const instead.

rys4590 · 2025-08-24T13:35:55Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+				SmartDashboard.putBoolean("isEvacuatingFromShooter", false);
+				//back direction
+				new ParallelDeadlineGroup(
+						new WaitCommand(0.5),


what does the number represent? use a const.

Dolev3 · 2025-08-24T13:25:06Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+	/**
+	 * This class is in-charge of checking if an enemy ball is trying to get to the funnel (and eventually to the shooter)
+	 * by using color sensor
+	 *
+	 * @see ColorSensorV3 colorSensorV3
+	 */


Remove comments

Suggested change

/**

* This class is in-charge of checking if an enemy ball is trying to get to the funnel (and eventually to the shooter)

* by using color sensor

*

* @see ColorSensorV3 colorSensorV3

*/

Dolev3 · 2025-08-24T13:25:59Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+	/**
+	 * @return the color that is in front of the sensor (as a DriverStation.Alliance enum)
+	 */


Remove comments

Suggested change

/**

* @return the color that is in front of the sensor (as a DriverStation.Alliance enum)

*/

Dolev3 · 2025-08-24T13:27:58Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+	/**
+	 * @return true if enemy ball in front of the sensor
+	 */


Remove comments

Suggested change

/**

* @return true if enemy ball in front of the sensor

*/

Dolev3 · 2025-08-24T13:28:35Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+	/**
+	 * @return true is our team's ball is in front of the sensor.
+	 */


Remove comments

Suggested change

/**

* @return true is our team's ball is in front of the sensor.

*/

Dolev3 · 2025-08-24T13:29:50Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+	 * @return true is our team's ball is in front of the sensor.
+	 */
+	public boolean isTeamsBallInSensor() {
+		DriverStation.Alliance a = instance.getBallColor();


Name is not informative
Use a better name for it

Dolev3 · 2025-08-24T13:34:46Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/EjectFromShooter.java

+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
+
+public class EjectFromShooter extends ParallelRaceGroup {//todo delete


Remove comments

Suggested change

public class EjectFromShooter extends ParallelRaceGroup {//todo delete

public class EjectFromShooter extends ParallelRaceGroup {

Dolev3 · 2025-08-24T13:36:17Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/InsertIntoShooter.java

+		addCommands(
+				new MoveBallUntilClick(),
+
+				//waits until the shooter is ready


Remove comments

Suggested change

//waits until the shooter is ready

Dolev3 · 2025-08-24T13:36:40Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/InsertIntoShooter.java

+				//waits until the shooter is ready
+				new WaitUntilCommand(() -> Shooter.getInstance().isPreparedToShoot()),
+
+				new ParallelDeadlineGroup(//activates both roller and funnel until ball is no longer at macro switch (was probably propelled)


Remove comments

Suggested change

new ParallelDeadlineGroup(//activates both roller and funnel until ball is no longer at macro switch (was probably propelled)

new ParallelDeadLineGroup(

Dolev3 · 2025-08-24T13:36:56Z

src/main/java/edu/greenblitz/pegasus/commands/multiSystem/InsertIntoShooter.java

+	@Override
+	public void initialize() {
+		super.initialize();
+		startTime = System.currentTimeMillis() / 1000.0;


Use constants

Dolev3 · 2025-08-24T13:49:37Z

src/main/java/edu/greenblitz/pegasus/subsystems/Indexing.java

+		if (color[0] >= 0.05 && color[0] <= 0.2) {
+			return DriverStation.Alliance.Red;
+		} else if (color[0] >= 0.4 && color[0] < 0.6) {


constants

Suggested change

if (color[0] >= 0.05 && color[0] <= 0.2) {

return DriverStation.Alliance.Red;

} else if (color[0] >= 0.4 && color[0] < 0.6) {

if (color[0] >= constant1 && color[0] <= constant2) {

return DriverStation.Alliance.Red;

} else if (color[0] >= constant3 && color[0] < constant4) {

rys4590 · 2025-08-24T13:48:59Z

src/main/java/edu/greenblitz/pegasus/RobotMap.java

+		}

 		public static class Swerve {
 			public static final double WHEEL_CIRC = 0.0517 * 2 * Math.PI; //very accurate right now


no numbers, please replace with matching consts.

rys4590 · 2025-08-24T13:50:59Z

src/main/java/edu/greenblitz/pegasus/commands/handleBalls/HandleBalls.java

+		if (index.isTeamsBallInSensor()) {
+			//if our team's ball is in front of the sensor activate the boolean
+			isBallInFunnel = true;
+		}
+		if (DigitalInputMap.getInstance().getValue(0)) {
+			//if the ball got to the macroSwitch then disable the boolean
+			isBallInFunnel = false;


perhaps split into functions, so we can know what each part does without any comments.

itamaroryan added 2 commits November 29, 2023 18:00

oops

b178af1

Nitzan - bollz

6503b57

rys4590 requested changes Aug 24, 2025

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Dolev3 reviewed Aug 24, 2025

View reviewed changes

rys4590 requested changes Aug 24, 2025

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	SmartDashboard.putBoolean("isEnemyBallUnSensor", index.isEnemyBallInSensor());
	SmartDashboard.putBoolean("isEnemyBallInSensor", index.isEnemyBallInSensor());

	if (index.isEnemyBallInSensor()) {
	if (index.isEnemysBallInSensor()) {

	/**
	* @return the color that is in front of the sensor (as a DriverStation.Alliance enum)
	*/

	/**
	* @return true is our team's ball is in front of the sensor.
	*/

	public class EjectFromShooter extends ParallelRaceGroup {//todo delete
	public class EjectFromShooter extends ParallelRaceGroup {

	new ParallelDeadlineGroup(//activates both roller and funnel until ball is no longer at macro switch (was probably propelled)
	new ParallelDeadLineGroup(

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tnrz135 commented Aug 24, 2025

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rys4590 Aug 24, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Dolev3 Aug 24, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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rys4590 Aug 24, 2025 •

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Dolev3 Aug 24, 2025 •

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