Allow drop sequence, motor sequence to take BaseDrivetrain

Drop sequences should be able to take `BaseDrivetrain` anyways (since all they need is to back up), but the command sequence is only able to do so if swerve testing remains permanently removed from the sequence.

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

@@ -122,15 +122,7 @@ public RobotContainer() {
         superstructure = new Superstructure(rollerSubsystem, tiltedElevatorSubsystem, signalLEDSubsystem, switchableCamera);
 
         balancerCommand = new DefaultBalancerCommand(driveSubsystem);
-        if (driveSubsystem instanceof BaseSwerveSubsystem) {
-            testCommand = new MotorTestCommand(
-                (BaseSwerveSubsystem) driveSubsystem,
-                tiltedElevatorSubsystem,
-                rollerSubsystem
-            );
-        } else {
-            testCommand = null;
-        }
+        testCommand = new MotorTestCommand(driveSubsystem, tiltedElevatorSubsystem, rollerSubsystem);
 
         // Configure button bindings
         configureDriveBindings();
@@ -161,8 +153,8 @@ public RobotContainer() {
             // autonChooser.addOption("Blue bottom auton (2-piece)", new BottomTwoPieceAutonSequence(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem, false));
             // autonChooser.addOption("Blue bottom balance auton", new BottomBalanceAutonSequence(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem, false));
 
-            // autonChooser.addOption("10\" straight-line path", new TenFeetStraightLinePath(swerveSubsystem));
-            // autonChooser.addOption("20\" straight-line path", new TwentyFeetStraightLinePath(swerveSubsystem));
+            // autonChooser.addOption("10' straight-line path", new TenFeetStraightLinePath(swerveSubsystem));
+            // autonChooser.addOption("20' straight-line path", new TwentyFeetStraightLinePath(swerveSubsystem));
             // autonChooser.addOption("High rotation straight-line path", new HighRotationLinePath(swerveSubsystem));
             // autonChooser.addOption("Rotating S-curve", new RotatingSCurveAutonSequence(swerveSubsystem));
             // autonChooser.addOption("Box auton", new BoxAutonSequence(swerveSubsystem));
@@ -234,10 +226,7 @@ private void configureDriveBindings() {
      * Configures button bindings for the roller / elevator mechs and controller.
      */
     private void configureMechBindings() {
-        if (driveSubsystem instanceof BaseSwerveSubsystem) {
-            BaseSwerveSubsystem swerveSubsystem = (BaseSwerveSubsystem) driveSubsystem;
-            mechAButton.onTrue(new DropperChooserCommand(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem));
-        }
+        mechAButton.onTrue(new DropperChooserCommand(driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem));
 
         rollerSubsystem.setDefaultCommand(new RunCommand(() -> {
             double forwardPower = 0.95 * mechController.getRightTriggerAxis();

src/main/java/frc/robot/commands/dropping/DropSequence.java

@@ -7,7 +7,7 @@
 import frc.robot.commands.grabber.RollerPlaceCommand;
 import frc.robot.commands.mover.TiltedElevatorCommand;
 import frc.robot.subsystems.RollerSubsystem;
-import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.drivetrain.BaseDrivetrain;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState.OffsetState;
@@ -24,19 +24,19 @@ public class DropSequence extends SequentialCommandGroup {
      * 7. Moves to GROUND
      */
     public DropSequence(
-        BaseSwerveSubsystem swerveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem,
+        BaseDrivetrain driveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem,
         double waitAfterAtDropHeight, double outtakePower, double outtakeDuration, double waitAfterPlacing, double backTime
     ) {
-        addRequirements(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem);
+        addRequirements(driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem);
 
         addCommands(
             new TiltedElevatorCommand(tiltedElevatorSubsystem, OffsetState.DROPPING),
             new WaitCommand(waitAfterAtDropHeight),
             new RollerPlaceCommand(rollerSubsystem, -outtakePower, outtakeDuration),
             new WaitCommand(waitAfterPlacing),
-            new InstantCommand(() -> swerveSubsystem.setDrivePowers(-0.2, 0, 0, true)),
+            new InstantCommand(() -> driveSubsystem.setDrivePowers(-0.2)),
             new WaitCommand(backTime),
-            new InstantCommand(() -> swerveSubsystem.setDrivePowers(0, 0, 0, true)),
+            new InstantCommand(() -> driveSubsystem.setDrivePowers(0)),
             new InstantCommand(() -> tiltedElevatorSubsystem.setState(ElevatorState.GROUND))
         );
     }

src/main/java/frc/robot/commands/dropping/DropperChooserCommand.java

@@ -4,17 +4,17 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
 import frc.robot.subsystems.RollerSubsystem;
-import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.drivetrain.BaseDrivetrain;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class DropperChooserCommand extends InstantCommand {
     public DropperChooserCommand(
-        BaseSwerveSubsystem swerveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem
+        BaseDrivetrain driveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem
     ) {
         super(() -> {
-            getSequence(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem).schedule();
-        }, rollerSubsystem, tiltedElevatorSubsystem, swerveSubsystem);
+            getSequence(driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem).schedule();
+        }, rollerSubsystem, tiltedElevatorSubsystem, driveSubsystem);
     }
 
     /**
@@ -24,10 +24,10 @@ public DropperChooserCommand(
      * @return The `SequentialCommandGroup` representing dropping the piece as a sequence.
      */
     public static SequentialCommandGroup getSequence(
-        BaseSwerveSubsystem swerveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem
+        BaseDrivetrain driveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem
     ) {
         ElevatorState state = tiltedElevatorSubsystem.getState();
-        return getSequence(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem, state);
+        return getSequence(driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem, state);
     }
 
     /**
@@ -38,32 +38,32 @@ public static SequentialCommandGroup getSequence(
      * @return The `SequentialCommandGroup` representing dropping the piece as a sequence.
      */
     public static SequentialCommandGroup getSequence(
-        BaseSwerveSubsystem swerveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem,
+        BaseDrivetrain driveSubsystem, RollerSubsystem rollerSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem,
         ElevatorState state
     ) {
         return switch (state) {
             case CONE_HIGH -> new DropSequence(
-                swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
+                driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
                 0, 0, 0, 0.2, 0.5
             );
 
             case CONE_MID -> new DropSequence(
-                swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
+                driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
                 0, 0, 0, 0.2, 0.5
             );
 
             case CUBE_HIGH -> new DropSequence(
-                swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
+                driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
                 0, 0.2, 0.5, 0.2, 0.5
             );
 
             case CUBE_MID -> new DropSequence(
-                swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
+                driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
                 0, 0.2, 0.5, 0.2, 0.5
             );
 
             default -> new DropSequence(
-                swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
+                driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem,
                 0, 0, 0, 0, 0.5
             );
         };

src/main/java/frc/robot/commands/pretest/MotorTestCommand.java

@@ -8,6 +8,7 @@
 import frc.robot.commands.grabber.RollerIntakeCommand;
 import frc.robot.commands.mover.TiltedElevatorCommand;
 import frc.robot.subsystems.RollerSubsystem;
+import frc.robot.subsystems.drivetrain.BaseDrivetrain;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
@@ -19,12 +20,12 @@ public class MotorTestCommand extends SequentialCommandGroup {
     private static final double SWERVE_DRIVE_POWER = 0.5;
     private static final double SWERVE_DRIVE_TIME_SECS = 3;
 
-    public MotorTestCommand(BaseSwerveSubsystem swerveSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem, RollerSubsystem rollerSubsystem) {
-        addRequirements(swerveSubsystem, tiltedElevatorSubsystem, rollerSubsystem);
+    public MotorTestCommand(BaseDrivetrain driveSubsystem, TiltedElevatorSubsystem tiltedElevatorSubsystem, RollerSubsystem rollerSubsystem) {
+        addRequirements(driveSubsystem, tiltedElevatorSubsystem, rollerSubsystem);
 
         addCommands(
             // Lock swerve
-            new InstantCommand(swerveSubsystem::applyLock, swerveSubsystem),
+            // new InstantCommand(swerveSubsystem::applyLock, swerveSubsystem),
 
             // Run tilted elevator to all heights
             // GROUND - CHUTE - INTAKE CONE - SUBSTATION - CUBEMID - CUBEHIGH - CONEMID - CONEHIGH - CONEMID 
@@ -57,7 +58,7 @@ public MotorTestCommand(BaseSwerveSubsystem swerveSubsystem, TiltedElevatorSubsy
             new WaitCommand(TEST_DELAY_SECS),
 
             // Test dropper command from `CONE_MID`
-            DropperChooserCommand.getSequence(swerveSubsystem, rollerSubsystem, tiltedElevatorSubsystem),
+            DropperChooserCommand.getSequence(driveSubsystem, rollerSubsystem, tiltedElevatorSubsystem),
             new WaitCommand(MECH_DELAY_SECS)
 
             // // Sweep rollers from [-1.0, 1.0] over 2 seconds