fixed requested changes

diff --git a/src/main/java/frc/robot/ClimbCommand.java b/src/main/java/frc/robot/ClimbCommand.java
deleted file mode 100644 (file)
index 3a78464..0000000
--- a/src/main/java/frc/robot/ClimbCommand.java
+++ /dev/null
@@ -1,5 +0,0 @@
-package frc.robot;
-
-public class ClimbCommand {
-
-}

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index 7ffc366641d4e629c7ff16a623c0000d76489152..42480ff9ffb7030934027c09d2c6d12ba8643baa 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -2,26 +2,19 @@ package frc.robot.commands.gpm;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.spindexer.Spindexer;
-import frc.robot.subsystems.turret.Turret;
 
 public class RunSpindexer extends Command {
     private Spindexer spindexer;
-    private Turret turret;
 
-    public RunSpindexer(Spindexer spindexer, Turret turret){
+    public RunSpindexer(Spindexer spindexer){
         this.spindexer = spindexer;
-        this.turret = turret;
         
         addRequirements(spindexer);
     }
 
     @Override
     public void execute() {
-        //if (turret.atSetpoint()){
-            spindexer.maxSpindexer();
-        // } else{
-        //     spindexer.stopSpindexer();
-        // }
+        spindexer.maxSpindexer();
     }
 
     @Override

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index bdffb1b8984f26f19300bb4380dce38e94f29d24..255e1b37f160a078dee23652f6ac62ba210e7da9 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -120,8 +120,7 @@ public class Superstructure extends Command {
             goalState = ShooterPhysics.getShotParams(
                                        Translation2d.kZero,
                                target3d.minus(lookahead3d),
-                target == FieldConstants.getHubTranslation().toTranslation2d() ?
-                               2.0 : 2.0);
+                                                   2.0);
 
             double TOFAdjustment = 0.85;
             timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 4ee974c7b1fcc018e36fcc8929d9f7dacdfe6d30..68ac966b76e311da911c245f46dd7f907dde9e3e 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -156,10 +156,7 @@ public class FieldConstants {
    * @return Whether Y coordinate is in the upper half (left side on blue alliance)
    */
   public static boolean isOnLeftSideOfField(Translation2d drivepose){
-    if (drivepose.getY() > FIELD_WIDTH/2){
-      return true;
-    }
-    return false;
+    return drivepose.getY() > FIELD_WIDTH/2;
   }
 
   public static Translation3d getOppositionTranslation(boolean sideLeft) {

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 216bce9dcf0003689109c3de7d499016dc0c569e..58dc1c3b94b5bd9ae3db8d72c53e6414d3493384 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -112,7 +112,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 }
             }, intake));
 
-            // Retract if hold for 3 seconds
+            // Retract if hold for 2 seconds
             controller.get(PS5Button.RIGHT_TRIGGER).debounce(2.0).onTrue(new InstantCommand(() -> {
                 intake.retract();
                 intakeBoolean = true;
@@ -139,7 +139,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         // Spindexer
         if (spindexer != null) {
             // Will only run if we are not calling default shoot command
-            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer, turret));
+            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer));
         }
 
         // Auto shoot

diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index 9667a77814ae93101c79c9c07e7c4f95c892cb5e..163f253db989d137a45f54b7134bd6e086f3897e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -73,9 +73,6 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO{
      * @param setpoint in rotations
      */
     public void setSetpoint(double setpoint) {
-        TalonFXConfiguration config = new TalonFXConfiguration();
-        config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-        motor.getConfigurator().apply(config);
         pid.setSetpoint(setpoint);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index ca0a84075cc803fe6064ee25ef12a2329042be77..7721f50d94a550f57a54686eb0d9b3584319cc94 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -230,15 +230,6 @@ public class Intake extends SubsystemBase implements IntakeIO{
      * @param setpoint in inches
      */
     public void setPosition(double setpoint) {
-        leftMotor.getConfigurator().apply(
-            new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
-            .withNeutralMode(NeutralModeValue.Coast)
-        );
-
-        rightMotor.getConfigurator().apply(
-            new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast)
-        );
-
         double motorRotations = inchesToRotations(setpoint);
         rightMotor.setControl(voltageRequest.withPosition(motorRotations));
         leftMotor.setControl(voltageRequest.withPosition(motorRotations));