- imports

diff --git a/.SysId/sysid.json b/.SysId/sysid.json
deleted file mode 100644 (file)
index 0967ef4..0000000
--- a/.SysId/sysid.json
+++ /dev/null
@@ -1 +0,0 @@
-{}

diff --git a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
index 304889a7790e2c114c8ab75275df18ca7bb77f02..8164d3549905aceebd50b03ca609a39d053b9825 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -3,9 +3,7 @@ package frc.robot.commands.drive_comm;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.geometry.Rectangle2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;

diff --git a/src/main/java/frc/robot/commands/gpm/LockedShoot.java b/src/main/java/frc/robot/commands/gpm/LockedShoot.java
index e7a56f87d7a97e90aa59929167495b056ada1e94..358f825ce5e972a930291e34c6a8d5ff595e9eef 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/LockedShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/LockedShoot.java
@@ -1,8 +1,5 @@
 package frc.robot.commands.gpm;
 
-import org.littletonrobotics.junction.Logger;
-
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -13,7 +10,6 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.constants.Constants;
 import frc.robot.constants.FieldConstants;
@@ -23,7 +19,6 @@ 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;
 import frc.robot.subsystems.turret.TurretConstants;
 import frc.robot.util.PhaseManager;

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index b3f5347ea76a43801ce9fe932265c0eed91c7d61..248e26a951e866588ee5385c2940c585cfc38df5 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -125,9 +125,9 @@ public class DriveConstants {
         public static COTSFalconSwerveConstants MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK4i(DRIVE_GEAR_RATIO);
     
         /* Swerve Current Limiting */
-        public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 20;
-        public static final int STEER_PEAK_CURRENT_LIMIT = 30;
-        public static final double STEER_PEAK_CURRENT_DURATION = 0.1;
+        public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 15;
+        public static final int STEER_PEAK_CURRENT_LIMIT = 15;
+        public static final double STEER_PEAK_CURRENT_DURATION = 0.01;
         public static final boolean STEER_ENABLE_CURRENT_LIMIT = true;
     
         public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 40;

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 02b266ca917fe62c2a19f47774174c036a18cb91..bcc3ab100c264447ade21295d85de69146902938 100644 (file)
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -1,7 +1,5 @@
 package frc.robot.util;
 
-import org.littletonrobotics.junction.Logger;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import frc.robot.constants.FieldConstants;

diff --git a/sysid.json b/sysid.json
deleted file mode 100644 (file)
index 0967ef4..0000000
--- a/sysid.json
+++ /dev/null
@@ -1 +0,0 @@
-{}