clutter

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 63deb64dae413f5326ccebaf4c9a4b783f0e6e29..9187099ea04c5894a23016b3e0b2504558e1c3d2 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -303,7 +303,7 @@ public class RobotContainer {
     addAuto("RightShallowDoubleSwipe");
 
 
-    DynamicAutoBuilder dynamicAutoBuilder = new DynamicAutoBuilder(spindexer, turret, hood, intake, drive);
+    DynamicAutoBuilder dynamicAutoBuilder = new DynamicAutoBuilder(spindexer, turret, hood, intake);
     
     // names
     String leftDynamicLiberalDoubleSwipe = "LeftDynamicDoubleLiberalSwipe";

diff --git a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
index d219996a54cf63b37cb9516d79bad59564041979..0404c4ba127c746cf0a27dec49b9daf511bcb6d3 100644 (file)
--- a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
+++ b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
@@ -3,7 +3,6 @@ package frc.robot.commands.auto_comm;
 import edu.wpi.first.wpilibj2.command.*;
 import frc.robot.commands.gpm.RunSpindexerWithStop;
 import frc.robot.subsystems.Intake.Intake;
-import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.spindexer.Spindexer;
 import frc.robot.subsystems.turret.Turret;
@@ -16,14 +15,12 @@ public class DynamicAutoBuilder {
     private final Turret turret;
     private final Hood hood;
     private final Intake intake;
-    private final Drivetrain drive;
 
-    public DynamicAutoBuilder(Spindexer spindexer, Turret turret, Hood hood, Intake intake, Drivetrain drive) {
+    public DynamicAutoBuilder(Spindexer spindexer, Turret turret, Hood hood, Intake intake) {
         this.spindexer = spindexer;
         this.turret = turret;
         this.hood = hood;
         this.intake = intake;
-        this.drive = drive;
     }
 
     /*
@@ -40,19 +37,16 @@ public class DynamicAutoBuilder {
                 runSpindexerWithAbort(),
 
                 departCommand(),
-                // new InstantCommand(() -> drive.setPose(Translation2d.kZero)),
                 new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"),
                 startShootingCommand(),
                 runSpindexerWithAbort(),
 
                 departCommand(),
-                // new InstantCommand(() -> drive.setPose(Translation2d.kZero)),
                 new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"),
                 startShootingCommand(),
                 runSpindexerWithAbort(),
 
                 departCommand(),
-                // new InstantCommand(() -> drive.setPose(Translation2d.kZero)),
                 new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"),
                 startShootingCommand(),
                 runSpindexerWithAbort());
@@ -114,29 +108,8 @@ public class DynamicAutoBuilder {
     }
 
     private Command runSpindexerWithAbort() {
-        // should race: when a command finnishes (will always be the wait until command)
-        // then we will end the command
-        // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(new
-        // WaitCommand(5.0));
-
-        // var timer = new Timer();
-        // timer.start();
-
-        // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(
-        // new WaitUntilCommand(() -> spindexer.spinningAir() &&
-        // timer.hasElapsed(3.0)));
-        // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(new
-        // WaitCommand(3.0));
-        // return new RunSpindexer(spindexer, turret, hood, intake).until(() ->
-        // spindexer.spinningAir() && timer.hasElapsed(3.0));
-
-        // has an isFinnished so it should work
+        // has an isFinnished so works
         return new RunSpindexerWithStop(spindexer, turret, hood, intake);
-
-        // return new ParallelDeadlineGroup(new WaitUntilCommand(() ->
-        // spindexer.spinningAir()), new RunSpindexer(spindexer, turret, hood, intake));
-        // return new ParallelDeadlineGroup(new WaitCommand(5.0), new
-        // RunSpindexer(spindexer, turret, hood, intake));
     }
 
     private Command startShootingCommand() {

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
index b3f592b773143be7b714cc108f54ae234521ffef..3c2526c20b2e9c4cf46d24c1d652ddff06b5b295 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java
@@ -32,7 +32,6 @@ public class RunSpindexerWithStop extends Command {
 
 
     private Timer runTimer = new Timer();
-    private boolean seizing;
 
     private Debouncer debouncer = new Debouncer(0.3, DebounceType.kRising);
     
@@ -45,11 +44,6 @@ public class RunSpindexerWithStop extends Command {
         addRequirements(spindexer);
     }
 
-        // public RunSpindexer(Spindexer spindexer) {
-        // this.spindexer = spindexer;
-        // addRequirements(spindexer);
-    // }
-
     @Override
     public void initialize() {
         wasHoodForcedDown = hood.getHoodForcedDown();
@@ -98,15 +92,6 @@ public class RunSpindexerWithStop extends Command {
             }
         }
 
-        // need to test
-        // // intake jostle
-        // if (runTimer.hasElapsed(3.0)) {
-        //     seizing = true;
-        //     new IntakeMovementCommand(intake).until(() -> !seizing);
-        // } else {
-        //     seizing = false;
-        // }
-
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putBoolean("Spindexer Jamming", reversing);
         }

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index ad14e7fa7cd709684a45b735e1adaf29e4aa4c48..4f1064245e71cc3e8cd951d6b2e20b67d61f6bc2 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -227,9 +227,9 @@ public class DriveConstants {
                 MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK5n(DRIVE_GEAR_RATIO);
 
             } else if(robotId == RobotId.TwinBot){
-                STEER_OFFSET_FRONT_LEFT = 301.201172 - 350 + 180;
-                STEER_OFFSET_FRONT_RIGHT = 67.324219 + 180;
-                STEER_OFFSET_BACK_LEFT = 39.814463 + 180 + 180;
+                STEER_OFFSET_FRONT_LEFT = 131.201172;
+                STEER_OFFSET_FRONT_RIGHT = 247.324219;
+                STEER_OFFSET_BACK_LEFT = 39.814463;
                 STEER_OFFSET_BACK_RIGHT = 294.873047;
                 
                 // MK5n gear ratio