aaa

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e50874665c31747ab51e7cb217bf67cc3cfe815a..155df67f83722525cad0652b124af50b8e468094 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -30,7 +30,6 @@ import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.turret.Turret;
 import frc.robot.util.PathGroupLoader;
 import frc.robot.util.Vision.DetectedObject;
-import frc.robot.util.Vision.TurretVision;
 import frc.robot.util.Vision.Vision;
 
 /**
@@ -47,7 +46,6 @@ public class RobotContainer {
   private Drivetrain drive = null;
   private Vision vision = null;
   private Turret turret = null;
-  private TurretVision turretVision = null;
   private Shooter shooter = null;
   private Command auto = new DoNothing();
 
@@ -83,7 +81,7 @@ public class RobotContainer {
         shooter = new Shooter();
 
         drive = new Drivetrain(vision, new GyroIOPigeon2());
-        driver = new PS5ControllerDriverConfig(drive, shooter, turret, turretVision);
+        driver = new PS5ControllerDriverConfig(drive, shooter, turret);
         operator = new Operator(drive);
 
         // Detected objects need access to the drivetrain

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index e770a5c049606376834bb2df29b96c260b29a35f..f38676a19fe73f416913a4be3790533481f239b3 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -34,16 +34,14 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
     private final BooleanSupplier slowModeSupplier = ()->false;
     private Shooter shooter;
     private Turret turret;
-    private TurretVision turretVision;
 
     private Pose2d alignmentPose = null;
     private Command turretAutoShoot;
 
-    public PS5ControllerDriverConfig(Drivetrain drive, Shooter shooter, Turret turret, TurretVision turretVision) {
+    public PS5ControllerDriverConfig(Drivetrain drive, Shooter shooter, Turret turret) {
         super(drive);
         this.shooter = shooter;
         this.turret = turret;
-        this.turretVision = turretVision;
     }
 
     public void configureControls() { 
@@ -84,7 +82,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                         if (turretAutoShoot != null && turretAutoShoot.isScheduled()){
                             turretAutoShoot.cancel();
                         } else{
-                            turretAutoShoot = new TurretAutoShoot(turret, getDrivetrain(), turretVision);
+                            turretAutoShoot = new TurretAutoShoot(turret, getDrivetrain());
                             CommandScheduler.getInstance().schedule(turretAutoShoot);
                         }
                     })