merged and cooking

LakotaRobotics1038 · Feb 19, 2025 · 97b1816 · 97b1816
1 parent 143c535
commit 97b1816
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/OperatorState.java b/src/main/java/frc/robot/OperatorState.java
@@ -3,15 +3,15 @@
 import frc.robot.utils.AcquisitionPositionSetpoint;
 
 public class OperatorState {
-    private AcquisitionPositionSetpoint lastInput;
-    private ScoringSide scoringSide;
+    private static AcquisitionPositionSetpoint lastInput;
+    private static ScoringSide scoringSide;
 
     public enum ScoringSide {
         LEFT, RIGHT;
     }
 
     private OperatorState() {
-        this.lastInput = AcquisitionPositionSetpoint.Storage;
+        lastInput = AcquisitionPositionSetpoint.Storage;
     }
 
     private static OperatorState instance;
@@ -24,8 +24,8 @@ public static OperatorState getInstance() {
         return instance;
     }
 
-    public AcquisitionPositionSetpoint getLastInput() {
-        return this.lastInput;
+    public static AcquisitionPositionSetpoint getLastInput() {
+        return lastInput;
     }
 
     public boolean isCoral() {
@@ -58,10 +58,10 @@ public void setLastInput(AcquisitionPositionSetpoint lastInput) {
     }
 
     public void setScoringSide(ScoringSide scoringSide) {
-        this.scoringSide = scoringSide;
+        OperatorState.scoringSide = scoringSide;
     }
 
-    public ScoringSide getScoringSide() {
-        return this.scoringSide;
+    public static ScoringSide getScoringSide() {
+        return scoringSide;
     }
 }
diff --git a/src/main/java/frc/robot/commands/DetermineWaypointCommand.java b/src/main/java/frc/robot/commands/DetermineWaypointCommand.java
@@ -10,9 +10,11 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.commands.SetAcquisitionPositionCommand.AcquisitionPositionSetpoint;
+import frc.robot.OperatorState;
+import frc.robot.OperatorState.ScoringSide;
 import frc.robot.constants.AutoConstants.DriveWaypoints;
 import frc.robot.subsystems.Vision;
+import frc.robot.utils.AcquisitionPositionSetpoint;
 
 public class DetermineWaypointCommand extends Command {
     private Vision vision = Vision.getInstance();
@@ -41,7 +43,7 @@ public void initialize() {
             case L1Coral:
             case L3Coral:
             case L4Coral:
-                this.waypoint = get123CoralWaypoint(scoringSide);
+                this.waypoint = get134CoralWaypoint(scoringSide);
                 break;
             case L2Coral:
                 this.waypoint = getLevel2CoralWaypoint(scoringSide);