disable for drivetrain

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

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 524e3f6d8c24ac5567f8f6df2bc2ad78e74ae867..6e531411e6730772e6be48b4fc28d6f05c52e9f8 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -116,8 +116,6 @@ public class RobotContainer {
         break;
 
       case TestBed2:
-        // led = new LED();
-        // led.setDefaultCommand(new LEDDefaultCommand(led));
         break;
 
       default:

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 3736e67307c9bdf30f231e70b3d801b44a19b38e..9b3f5db6bb102307ed30d9795d7e7a36aefb06a4 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -70,8 +70,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             CommandScheduler.getInstance().cancelAll();
         }));
 
-        // sysId per-module characterization
-        controller.get(PS5Button.TRIANGLE).onTrue(new SysIdPerModuleCommand(getDrivetrain()));
+        // // sysId per-module characterization
+        // controller.get(PS5Button.TRIANGLE).onTrue(new SysIdPerModuleCommand(getDrivetrain()));
 
         // Reverse motors
         if (intake != null && spindexer != null) {

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index 38bc9e7eb73dd81c05869d0a84d7efd7f1bafe66..aa81e8e9d3e5131d45e4cc60277bb7b2f9380985 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -250,7 +250,7 @@ public class Module implements ModuleIO{
         }
         if (isOpenLoop) {
             double percentOutput = desiredState.speedMetersPerSecond / DriveConstants.MAX_SPEED;
-            driveMotor.setControl(new DutyCycleOut(percentOutput).withEnableFOC(true));
+            driveMotor.setControl(new DutyCycleOut(percentOutput));
         } else {
             double velocity = desiredState.speedMetersPerSecond/DriveConstants.WHEEL_RADIUS/2/Math.PI*DriveConstants.DRIVE_GEAR_RATIO;
             if (!Constants.DISABLE_LOGGING) {
@@ -261,8 +261,7 @@ public class Module implements ModuleIO{
             driveMotor.setControl(
                 velocityRequest
                     .withVelocity(velocity)
-                    .withFeedForward(feedforward)
-                    .withEnableFOC(true));
+                    .withFeedForward(feedforward));
         }     
     }
 
@@ -277,14 +276,14 @@ public class Module implements ModuleIO{
         if(desiredState == null){
             return;
         }
-        angleMotor.setControl(new PositionDutyCycle(desiredState.angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio).withEnableFOC(true));
+        angleMotor.setControl(new PositionDutyCycle(desiredState.angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio));
     }
 
     public void setDriveVoltage(Voltage voltage){
-        driveMotor.setControl(new VoltageOut(voltage.baseUnitMagnitude()).withEnableFOC(true));
+        driveMotor.setControl(new VoltageOut(voltage.baseUnitMagnitude()));
     }
     public void setAngle(Rotation2d angle){
-        angleMotor.setControl(new PositionDutyCycle(angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio).withEnableFOC(true));
+        angleMotor.setControl(new PositionDutyCycle(angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio));
     }
 
     public void setOptimize(boolean enable) {

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