a

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index e4aaf459f36821be346b301b55536d6e4a1f2ea0..bdffb1b8984f26f19300bb4380dce38e94f29d24 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -1,7 +1,5 @@
 package frc.robot.commands.gpm;
 
-import static edu.wpi.first.units.Units.Rotation;
-
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.MathUtil;
@@ -27,9 +25,7 @@ import frc.robot.subsystems.spindexer.Spindexer;
 import frc.robot.subsystems.turret.Turret;
 import frc.robot.subsystems.turret.TurretConstants;
 import frc.robot.util.PhaseManager;
-import frc.robot.util.PhaseManager.CurrentState;
 import frc.robot.util.ShooterPhysics;
-import frc.robot.util.ShooterPhysics.Constraints;
 import frc.robot.util.ShooterPhysics.TurretState;
 
 public class Superstructure extends Command {
@@ -39,9 +35,6 @@ public class Superstructure extends Command {
     private Shooter shooter;
     private Spindexer spindexer;
 
-    //TODO: find maximum interpolation
-    private Constraints shooterConstraints = new Constraints(Units.inchesToMeters(80.0), 67676767, HoodConstants.MIN_ANGLE, HoodConstants.MAX_ANGLE);
-
     private double turretSetpoint;
     private double hoodSetpoint;
 

diff --git a/src/main/java/frc/robot/constants/ShotInterpolation.java b/src/main/java/frc/robot/constants/ShotInterpolation.java
index fc6c2b6d019a31f3d65e585f4f21f86e1ad545b9..a132a67f23c0624461dafd3691070f0acddbbd11 100644 (file)
--- a/src/main/java/frc/robot/constants/ShotInterpolation.java
+++ b/src/main/java/frc/robot/constants/ShotInterpolation.java
@@ -1,8 +1,6 @@
 package frc.robot.constants;
 
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
-import edu.wpi.first.math.util.Units;
-import frc.robot.subsystems.hood.HoodConstants;
 
 public class ShotInterpolation {
     public static final InterpolatingDoubleTreeMap timeOfFlightMap = new InterpolatingDoubleTreeMap();
@@ -44,7 +42,6 @@ public class ShotInterpolation {
         exitVelocityMap.put(10.0, 19.2);
         exitVelocityMap.put(11.0, 26.0);
         exitVelocityMap.put(25.0, 25.0* 3.2);
-        //exitVelocityMap.put(null, null);
 
         shooterVelocityMap.put(1.49, 11.5);
         shooterVelocityMap.put(2.09, 12.5);

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index aa53754468b62f0d34a10b8896a5fb1a9e7110af..216bce9dcf0003689109c3de7d499016dc0c569e 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import frc.robot.Robot;
-import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.ReverseMotors;
@@ -23,7 +22,6 @@ import frc.robot.subsystems.Climb.LinearClimb;
 import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
-import frc.robot.subsystems.hood.HoodConstants;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.spindexer.Spindexer;
 import frc.robot.subsystems.turret.Turret;