Oh, sweet, we have Java 8, which means we have lambdas.

1 files changed, 17 insertions, 28 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index b8aca0c..a64e5ad 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -122,19 +122,6 @@ public class Autonomous {
 			return lPct >= 1 && rPct >= 1; 
 		}
 	}
-	private static class Stop implements Command {
-		public boolean execute(Control c) {
-			c.lDrive = c.rDrive = 0;
-			return true;
-		}
-	}
-	private static class Init implements Command {
-		public boolean execute(Control c) {
-			c.lDrive = c.rDrive = 0;
-			c.highGear = c.gedOut = false;
-			return true;
-		}
-	}
 	private static class TimedCommand implements Command {
 		private final Command inner;
 		private final double secs;
@@ -172,9 +159,6 @@ public class Autonomous {
 	private static Command turnDegrees(HwRobot robot, double speed, double deg) {
 		return turnRadians(robot, speed, deg * Math.PI/180);
 	}
-	private static Command stop(HwRobot robot) {
-		return new Stop();
-	}
 
 	private final HwRobot robot;
 	private final Command[] commands;
@@ -195,40 +179,45 @@ public class Autonomous {
 		String mode = (String) modeChooser.getSelected();
 		SmartDashboard.putString("read mode", mode);
 
+		Command init = c->{
+			c.lDrive = c.rDrive = 0;
+			c.highGear = c.gedOut = false;
+			return true;
+		};
+
 		switch (mode) {
 		case "Center Peg":
 			commands = new Command[]{
-				new Init(),
+				init,
 				new TimedCommand(driveDistance(robot, 0.4, 8.75), 6),
-				stop(robot),
-				new Command() {public boolean execute(Control c) {
-					c.gedOut = true;
-					return true;
-				}},
+				c->{c.lDrive = c.rDrive = 0; return true;},
+				c->{c.gedOut = true; return true;},
 				driveDistance(robot, 0.4, -3),
-				stop(robot),
+				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
 		case "Left Peg":
 			commands = new Command[]{
-				new Init(),
+				init,
 				driveDistance(robot, 0.4, 3.5),
 				turnDegrees(robot, 0.4, 60),
 				driveDistance(robot, 0.4, 8.3),
-				stop(robot),
+				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
 		case "Right Peg":
 			commands = new Command[]{
-				new Init(),
+				init,
 				driveDistance(robot, 0.4, 3.5),
 				turnDegrees(robot, 0.4, -60),
 				driveDistance(robot, 0.4, 8.3),
-				stop(robot),
+				c->{c.lDrive = c.rDrive = 0; return true;},
 			};
 			break;
 		default:
-			commands = new Command[]{stop(robot)};
+			commands = new Command[]{
+				c->{c.lDrive = c.rDrive = 0; return true;},
+			};
 		}
 	}