delete climb, fix error

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 751d162805f7431d52dab0c9c1c1bd38eaf0a2ca..747612401c43e1c11b1b6ec1eca726e1739bac64 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
-import frc.robot.commands.gpm.HardstopWarning;
+// import frc.robot.commands.gpm.HardstopWarning;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.RunSpindexer;
 import frc.robot.commands.gpm.Superstructure;
@@ -157,8 +157,7 @@ public class RobotContainer {
     }
 
        if (intake != null && hood != null && turret != null)
-               CommandScheduler.getInstance().schedule(new HardstopWarning(hood, intake, turret));
-
+               // CommandScheduler.getInstance().schedule(new HardstopWarning(hood, intake, turret)); (no more crt for this)
     // This is really annoying so it's disabled
     DriverStation.silenceJoystickConnectionWarning(true);
 

diff --git a/src/main/java/frc/robot/RobotId.java b/src/main/java/frc/robot/RobotId.java
index 9def1acd7aead234c5987223da6175cab6031a02..b4df9f10831144bffc42412d3d8410f752069935 100644 (file)
--- a/src/main/java/frc/robot/RobotId.java
+++ b/src/main/java/frc/robot/RobotId.java
@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.Preferences;
  */
 public enum RobotId {
     Default,
-    PrimeJr, WaffleHouse, TwinTake, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
+    PrimeJr, WaffleHouse, TwinBot, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
     ClassBot1, ClassBot2, ClassBot3, ClassBot4,
     TestBed1, TestBed2;
 

diff --git a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
index 74277536ee5ada2cd94396be4751f6141e0b2d39..f55702dabab4b68ed694a7fd2a22aa19dec06e1e 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
+++ b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
@@ -32,13 +32,13 @@ public class HardstopWarning extends Command {
                SmartDashboard.putBoolean("Hood OK", hood.getPositionDeg() >= HoodConstants.MIN_ANGLE - epsilon);
                SmartDashboard.putBoolean("Intake OK", intake.getPosition() >= IntakeConstants.STARTING_POINT - epsilon);
 
-               if (Math.abs(turret.getPositionRad()) <= epsilon) {
-                       var encoderPositions = turret.getEncoderPositions();
-                       if (Math.abs(encoderPositions.getFirst()) <= epsilon && Math.abs(encoderPositions.getSecond()) <= epsilon)
-                               turretStatus = "Ok";
-                       else
-                               turretStatus = "Bad";
-               }
+               // if (Math.abs(turret.getPositionRad()) <= epsilon) {
+               //      var encoderPositions = turret.getEncoderPositions();
+               //      if (Math.abs(encoderPositions.getFirst()) <= epsilon && Math.abs(encoderPositions.getSecond()) <= epsilon)
+               //              turretStatus = "Ok";
+               //      else
+               //              turretStatus = "Bad";
+               // }
 
                SmartDashboard.putString("Turret Status", turretStatus);
        }

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index abc8eb7a22a822f73ea9bd70e34e6a68f7d38aff..4008192a7f9b82eaace81384ec2de31b1936e1fe 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -155,40 +155,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             controller.get(PS5Button.SQUARE).toggleOnTrue(autoShoot);
         }
 
-        // Climb
-        if (climb != null) {
-            // Calibration
-            controller.get(PS5Button.OPTIONS).onTrue(new InstantCommand(() -> {
-                climb.hardstopCalibration();
-            })).onFalse(new InstantCommand(() -> {
-                climb.stopCalibrating();
-            }));
-
-            // Climb retract
-            controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
-                climb.retract();
-            }));
-
-            // Go to up position
-            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
-                climb.goUp();
-            }));
-
-            // Go to climb position
-            controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> {
-                climb.climbPosition();
-            }));
-        }
-
         // Hood
         if (hood != null) {
-            // Calibration
-            // controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
-            //     hood.calibrate();
-            // })).onFalse(new InstantCommand(() -> {
-            //     hood.stopCalibrating();
-            // }));
-
             // Set the hood down -- for safety measures under trench
             controller.get(DPad.LEFT).onTrue(new InstantCommand(()->{
                 hood.forceHoodDown(true);