Revert "added null checks"

This reverts commit 5568a764c85224d8937dca7615aa7fd7e14febf9.

diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
new file mode 100644 (file)
index 0000000..d4dfd7b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": null
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c928267af062180755187f76999302c5eb68db4f..fa9b0d42eeb98807c4a3cdb1ad465670c05640d7 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -21,7 +21,6 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import frc.robot.commands.DoNothing;
 import frc.robot.commands.LogCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
@@ -166,9 +165,7 @@ public class RobotContainer {
         // put the Chooser on the SmartDashboard
         SmartDashboard.putData("Auto chooser", autoChooser);
 
-        if (turret != null && drive != null && hood != null && shooter != null) {
-          SmartDashboard.putData("Lock Shooting", new LockedShoot(turret, drive, hood, shooter));
-        }
+        SmartDashboard.putData("Lock Shooting", new LockedShoot(turret, drive, hood, shooter));
 
         if (turret != null) {
           turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
@@ -178,9 +175,7 @@ public class RobotContainer {
           CommandScheduler.getInstance().schedule(new BrownOutControl(shooter, spindexer, turret, intake, hood, drive));
         }
         
-        if (drive != null && driver != null) {
-          drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
-        }
+        drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
         break;
     }
 
@@ -343,9 +338,6 @@ public class RobotContainer {
   }
 
   public Command getDefaultAuto() {
-    if (spindexer == null || turret == null || hood == null || intake == null) {
-      return new DoNothing();
-    }
     ParallelCommandGroup defaultShoot = new ParallelCommandGroup(
       new RunSpindexer(spindexer, turret, hood, intake)
     );