add TODOs

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7263be7b7d5f28cddef623cfde61d83669550c90..1018db11647458260dd8152ce2f1fe5ec1e23bc7 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -11,7 +11,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.PS5Controller;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -76,9 +75,6 @@ public class RobotContainer {
 
   private EMABreaker breaker = null;
 
-  // TODO: move to correct robot and put the correct port?
-  private PS5Controller ps5 = new PS5Controller(0);
-
   // auto Command selection
   private final SendableChooser<Command> autoChooser = new SendableChooser<>();
 

diff --git a/src/main/java/frc/robot/commands/gpm/PowerControl.java b/src/main/java/frc/robot/commands/gpm/PowerControl.java
index cc6127f5838a1ebae7543f3fd075114c260322c2..8e9338421e00a7ebf4a6e2ac500515cb87e0f94a 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/PowerControl.java
+++ b/src/main/java/frc/robot/commands/gpm/PowerControl.java
@@ -1,26 +1,22 @@
 package frc.robot.commands.gpm;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.PowerControl.Battery;
 import frc.robot.subsystems.PowerControl.EMABreaker;
-import frc.robot.subsystems.drivetrain.Drivetrain;
-import frc.robot.subsystems.hood.Hood;
-import frc.robot.subsystems.shooter.Shooter;
-import frc.robot.subsystems.spindexer.Spindexer;
-import frc.robot.subsystems.turret.Turret;
+
 
 public class PowerControl extends Command {
     // my beautiful power control subsystems
     private EMABreaker breaker;
     private Battery battery;
     // the real subsystems
-    private Drivetrain drivetrain;
-    private Shooter shooter;
-    private Turret turret;
-    private Hood hood;
-    private Intake intake;
-    private Spindexer spindexer;
+    // TODO: implement current limit logic for these subsystems
+    // private Drivetrain drivetrain;
+    // private Shooter shooter;
+    // private Turret turret;
+    // private Hood hood;
+    // private Intake intake;
+    // private Spindexer spindexer;
 
     public SeverityLevel severityLevel;
 
@@ -35,22 +31,24 @@ public class PowerControl extends Command {
 
     public PowerControl(
         EMABreaker breaker, // pc
-        Battery battery, // pc
-        Drivetrain drivetrain, // main draw
-        Shooter shooter, // aiming (vital)
-        Turret turret, // aiming
-        Hood hood, // aiming
-        Intake intake, // bps
-        Spindexer spindexer // bps
+        Battery battery // pc
+        // TODO: add subsystems back when implementing logic:
+        // Drivetrain drivetrain, // main draw
+        // Shooter shooter, // aiming (vital)
+        // Turret turret, // aiming
+        // Hood hood, // aiming
+        // Intake intake, // bps
+        // Spindexer spindexer // bps
     ) {
         this.breaker = breaker;
         this.battery = battery;
-        this.drivetrain = drivetrain;
-        this.shooter = shooter;
-        this.turret = turret;
-        this.hood = hood;
-        this.intake = intake;
-        this.spindexer = spindexer;
+        // TODO: add these back when implementing logic:
+        // this.drivetrain = drivetrain;
+        // this.shooter = shooter;
+        // this.turret = turret;
+        // this.hood = hood;
+        // this.intake = intake;
+        // this.spindexer = spindexer;
 
         addRequirements(breaker, battery); // not sure if I'll need requirement access for setting new current limits
     }

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index cd5208d37b2932f9ee4e8660d8ac2d884dda2fe1..6a7caa8127be39a9a466fc64cc6ac2527ab14e07 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -13,19 +13,16 @@ import frc.robot.commands.gpm.ReverseMotors;
 import frc.robot.commands.gpm.RunSpindexer;
 import frc.robot.commands.gpm.Superstructure;
 import frc.robot.constants.Constants;
-import frc.robot.constants.swerve.DriveConstants;
 import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.spindexer.Spindexer;
-import frc.robot.subsystems.spindexer.SpindexerConstants;
 import frc.robot.subsystems.turret.Turret;
 import lib.controllers.PS5Controller;
 import lib.controllers.PS5Controller.DPad;
 import lib.controllers.PS5Controller.PS5Axis;
 import lib.controllers.PS5Controller.PS5Button;
-import org.littletonrobotics.junction.Logger;
 
 /**
  * Driver controls for the PS5 controller
@@ -40,7 +37,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
     private Hood hood;
     private Intake intake;
     private Spindexer spindexer;
-    private double originalSpindexerCurrentLimit;
 
     public PS5ControllerDriverConfig(
             Drivetrain drive,

diff --git a/src/main/java/frc/robot/subsystems/PowerControl/Battery.java b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java
index fcb52214e421813b48aa7907157713e4d1b683cb..e6dda68cc9bc70f20dd27d84348dd5cd2f533d5e 100644 (file)
--- a/src/main/java/frc/robot/subsystems/PowerControl/Battery.java
+++ b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.PowerControl;
 
-import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 9ace548ee9a29aeb9204ce8dfc24b995fff047a3..d8b595ab72b6455fb65ba0522ac5b89f375a260d 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -11,8 +11,6 @@ import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
@@ -27,7 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.IdConstants;
-import frc.robot.util.ModifiedCRT;
 
 public class Turret extends SubsystemBase implements TurretIO{
        // Super low magnitude filter for the position to make it less jittery
@@ -38,7 +35,6 @@ public class Turret extends SubsystemBase implements TurretIO{
        public boolean locked = false;
 
        private boolean calibrating;
-       private Debouncer calibrationDebouncer = new Debouncer(0.5, DebounceType.kRising);
 
        /* ---------------- Hardware ---------------- */