unused dp, imports, warnings

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5f5005343fc89d3e3738a0b268d90b7e31b95763..d82bc90d0ab4f52af660cefae087a7ff230c1a88 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.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PS5Controller;
 import edu.wpi.first.wpilibj.RobotController;
@@ -21,7 +20,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 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.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
@@ -32,7 +30,6 @@ import frc.robot.commands.gpm.Superstructure;
 import frc.robot.commands.vision.ShutdownAllPis;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.Constants;
-import frc.robot.constants.IntakeConstants;
 import frc.robot.constants.VisionConstants;
 import frc.robot.controls.BaseDriverConfig;
 import frc.robot.controls.Operator;
@@ -42,10 +39,8 @@ import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.drivetrain.GyroIOPigeon2;
 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.spindexer.SpindexerConstants;
 import frc.robot.subsystems.turret.Turret;
 import frc.robot.util.PathGroupLoader;
 import frc.robot.util.Vision.DetectedObject;
@@ -227,7 +222,7 @@ public class RobotContainer {
       NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
       NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
 
-      NamedCommands.registerCommand("Start Spindexer", new InstantCommand(() -> runSpindexer.schedule()));
+      NamedCommands.registerCommand("Start Spindexer", new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer)));
       NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel()));
     }
 

diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index ba2325747948b3a8bd3843bd3ed971c77e256d10..f927be48f4e80fb6f4a0de38e9a0c64463575af0 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -1,7 +1,5 @@
 package frc.robot.commands.gpm;
 
-import static edu.wpi.first.units.Units.Gs;
-
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.MathUtil;
@@ -14,7 +12,6 @@ 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;

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 8b5eb3dca511b38fb4fd3d92a5f9b1e13b6c23fb..0f6d1fbf6f37a063756bb4a3754200e400751afe 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -4,7 +4,6 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rectangle2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;

diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
index 3a4b7dc7fa194fa8a340537174f75ed41fe5ae78..9b2fb94d385480184227ccb35dc454c69139800c 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/Intake/IntakeIO.java
@@ -5,11 +5,11 @@ import org.littletonrobotics.junction.AutoLog;
 public interface IntakeIO {
     @AutoLog
     public static class IntakeIOInputs{
-        public static double leftPosition = 0.0;
-        public static double rightPosition = 0.0;
-        public static double leftCurrent = 0.0;
-        public static double rightCurrent = 0.0;
-        public static double rollerVelocity = 0.0;
+        public double leftPosition = 0.0;
+        public double rightPosition = 0.0;
+        public double leftCurrent = 0.0;
+        public double rightCurrent = 0.0;
+        public double rollerVelocity = 0.0;
     }
 
     public void updateInputs();

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 773cb78a8bd666ce6265356a19020086f40e452f..2c0e346d38feb76b82e5dc595b27c81e295571c4 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -27,7 +27,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
-import frc.robot.util.ChineseRemainderTheorem;
 import frc.robot.util.ModifiedCRT;
 
 public class Turret extends SubsystemBase implements TurretIO{

diff --git a/vendordeps/Phoenix5-frc2026-latest.json b/vendordeps/Phoenix5-frc2026-latest.json
deleted file mode 100644 (file)
index 2350393..0000000
--- a/vendordeps/Phoenix5-frc2026-latest.json
+++ /dev/null
@@ -1,171 +0,0 @@
-{
-    "fileName": "Phoenix5-frc2026-latest.json",
-    "name": "CTRE-Phoenix (v5)",
-    "version": "5.36.0",
-    "frcYear": "2026",
-    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
-    "mavenUrls": [
-        "https://maven.ctr-electronics.com/release/"
-    ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
-    "requires": [
-        {
-            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
-            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-            "offlineFileName": "Phoenix6-frc2026-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
-        }
-    ],
-    "conflictsWith": [
-        {
-            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-            "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
-        },
-        {
-            "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
-            "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix5-replay-frc2026-latest.json"
-        }
-    ],
-    "javaDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-java",
-            "version": "5.36.0"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-java",
-            "version": "5.36.0"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.36.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.36.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-cpp",
-            "version": "5.36.0",
-            "libName": "CTRE_Phoenix_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.36.0",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "cci",
-            "version": "5.36.0",
-            "libName": "CTRE_PhoenixCCI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "wpiapi-cpp-sim",
-            "version": "5.36.0",
-            "libName": "CTRE_Phoenix_WPISim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "api-cpp-sim",
-            "version": "5.36.0",
-            "libName": "CTRE_PhoenixSim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.36.0",
-            "libName": "CTRE_PhoenixCCISim",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ]
-}
\ No newline at end of file

diff --git a/vendordeps/StudicaLib.json b/vendordeps/StudicaLib.json
deleted file mode 100644 (file)
index 52228bd..0000000
--- a/vendordeps/StudicaLib.json
+++ /dev/null
@@ -1,78 +0,0 @@
-{
-    "fileName": "StudicaLib.json",
-    "name": "StudicaLib",
-    "version": "2026.0.2",
-    "frcYear": "2026",
-    "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82",
-    "mavenUrls": [
-        "https://dev.studica.com/maven/release/2026/"
-    ],
-    "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.2.json",
-    "conflictsWith": [
-        {
-            "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-            "errorMessage": "StudicaLib (newer devices) is not compatible with Studica (NavX, NavX2)",
-            "offlineFileName": "Studica.json"
-        }
-    ],
-    "javaDependencies": [
-        {
-            "groupId": "com.studica.frc",
-            "artifactId": "StudicaLib-java",
-            "version": "2026.0.2"
-        }
-    ],
-    "jniDependencies": [
-        {
-            "groupId": "com.studica.frc",
-            "artifactId": "StudicaLib-driver",
-            "version": "2026.0.2",
-            "skipInvalidPlatforms": true,
-            "isJar": false,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxathena",
-                "linuxarm32",
-                "osxuniversal"
-            ]
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.studica.frc",
-            "artifactId": "StudicaLib-cpp",
-            "version": "2026.0.2",
-            "libName": "StudicaLib",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxathena",
-                "linuxarm32",
-                "osxuniversal"
-            ]
-        },
-        {
-            "groupId": "com.studica.frc",
-            "artifactId": "StudicaLib-driver",
-            "version": "2026.0.2",
-            "libName": "StudicaLibDriver",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxarm64",
-                "linuxx86-64",
-                "linuxathena",
-                "linuxarm32",
-                "osxuniversal"
-            ]
-        }
-    ]
-}
\ No newline at end of file

diff --git a/vendordeps/yams.json b/vendordeps/yams.json
deleted file mode 100644 (file)
index 8266af7..0000000
--- a/vendordeps/yams.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-    "fileName": "yams.json",
-    "name": "Yet Another Mechanism System",
-    "version": "2026.2.23",
-    "frcYear": "2026",
-    "uuid": "a1051e86-a979-4880-a28b-a0d5362d1d96",
-    "mavenUrls": [
-        "https://yet-another-software-suite.github.io/YAMS/releases/"
-    ],
-    "jsonUrl": "https://yet-another-software-suite.github.io/YAMS/yams.json",
-    "javaDependencies": [
-        {
-            "groupId": "yams",
-            "artifactId": "YAMS-java",
-            "version": "2026.2.23"
-        }
-    ],
-    "cppDependencies": [],
-    "jniDependencies": [],
-    "requires": []
-}
\ No newline at end of file