more unused

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6d170863cbcdadd349f379a4ae714a4059a70d01..f9bf6fabded592ac658156eb518a5e5ece16bbe7 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,7 +12,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.PS5Controller;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -67,6 +66,7 @@ public class RobotContainer {
   private Hood hood = null;
   private Spindexer spindexer = null;
   private Intake intake = null;
+  private LED led = null;
 
   // this is inside addAuto()
   // private Command auto = new DoNothing();
@@ -74,10 +74,6 @@ public class RobotContainer {
   // Controllers are defined here
   private BaseDriverConfig driver = null;
   private Operator operator = null;
-  private LED led = null;
-
-  // TODO: move to correct robot and put the correct port?
-  private PS5Controller ps5 = new PS5Controller(0);
 
   // auto Command selection
   private final SendableChooser<Command> autoChooser = new SendableChooser<>();

diff --git a/src/main/java/frc/robot/constants/IdConstants.java b/src/main/java/frc/robot/constants/IdConstants.java
index 160c8da00e32e990f0fe3455c59454b620ad24f3..179d6176a0845db15eae7c7742df6b6eb5aad58b 100644 (file)
--- a/src/main/java/frc/robot/constants/IdConstants.java
+++ b/src/main/java/frc/robot/constants/IdConstants.java
@@ -34,9 +34,6 @@ public class IdConstants {
     // Spindexer
     public static final int SPINDEXER_ID = 4;
     
-    // Climb
-    public static final int CLIMB_MOTOR_ID = 8;
-
     // Intake
     public static final int RIGHT_MOTOR_ID = 1;
     public static final int LEFT_MOTOR_ID = 2;

diff --git a/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java b/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java
index e0cc573d390679e121570337723b036ee2f9d2e9..56f6352b669f1c6a7fb82f597398ff5c5f9c4cd9 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5XboxModeDriverConfig.java
@@ -50,14 +50,14 @@ public class PS5XboxModeDriverConfig extends BaseDriverConfig {
     private Spindexer spindexer;
 
     // PS5 button aliases
-    private final Button CROSS = Button.A;
+    // private final Button CROSS = Button.A;
     private final Button CIRCLE = Button.B;
     private final Button SQUARE = Button.X;
-    private final Button TRIANGLE = Button.Y;
-    private final Button LB = Button.LB;
+    // private final Button TRIANGLE = Button.Y;
+    // private final Button LB = Button.LB;
     private final Button RB = Button.RB;
     private final Button CREATE = Button.BACK;
-    private final Button OPTIONS = Button.START;
+    // private final Button OPTIONS = Button.START;
     private final Button LEFT_JOY = Button.LEFT_JOY;
     private final Button RIGHT_JOY = Button.RIGHT_JOY;
 
@@ -70,8 +70,8 @@ public class PS5XboxModeDriverConfig extends BaseDriverConfig {
     private final Axis LEFT_Y = Axis.LEFT_Y;
     private final Axis RIGHT_X = Axis.RIGHT_X;
     private final Axis RIGHT_Y = Axis.RIGHT_Y;
-    private final Axis LEFT_TRIGGER = Axis.LEFT_TRIGGER;
-    private final Axis RIGHT_TRIGGER = Axis.RIGHT_TRIGGER;
+    // private final Axis LEFT_TRIGGER = Axis.LEFT_TRIGGER;
+    // private final Axis RIGHT_TRIGGER = Axis.RIGHT_TRIGGER;
 
     public PS5XboxModeDriverConfig(
             Drivetrain drive,

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 65e9be585e00585ac442408c938ac9947fedfa37..56ef81433f465620de3c582da14882395b26f96d 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -201,7 +201,6 @@ public class Intake extends SubsystemBase implements IntakeIO{
         if(calibrating){
             leftMotor.set(-0.1);
             rightMotor.set(-0.1);
-            boolean atHardStop = Math.abs((leftMotor.getStatorCurrent().getValueAsDouble() + rightMotor.getStatorCurrent().getValueAsDouble()) / 2) >= IntakeConstants.CALIBRATING_CURRENT_THRESHOLD;
         }
 
         updateInputs();

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index e9cb913d10c9ece92e084a7c97040ffd93f90231..b4b2ae65b7825911fcb0f0d489205139f8ca0ba1 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -20,7 +20,6 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     public int ballCount = 0;
     private boolean wasSpindexerSlow = false;
     private SpindexerState state = SpindexerState.STOPPED;
-    private boolean reversing = false;
     private SpindexerIOInputsAutoLogged inputs = new SpindexerIOInputsAutoLogged();
 
     public boolean noIndexing = false;
@@ -67,18 +66,14 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         if (state == SpindexerState.MAX) {
             motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerMaxPower).withEnableFOC(true));
-            reversing = false;
         } else if (state == SpindexerState.REVERSE) {
             motor.setControl(new DutyCycleOut(SpindexerConstants.spindexerReversePower).withEnableFOC(true));
-            reversing = true;
         } else if (state == SpindexerState.STOPPED) {
             motor.setControl(new DutyCycleOut(0.0).withEnableFOC(true));
-            reversing = false;
         } else if (state == SpindexerState.RESET && resetPos != null) {
             motor.setControl(new DutyCycleOut(resetPID.calculate((motor.getPosition().getValueAsDouble() / gearRatio) % 1.0, resetPos)).withEnableFOC(true));
         } else {
             motor.setControl(new DutyCycleOut(power).withEnableFOC(true));
-            reversing = false;
         }
 
 

diff --git a/src/test/java/frc/robot/util/PathCheck.java b/src/test/java/frc/robot/util/PathCheck.java
index 9343b5c7142d8b212a41cff957a579bd87e2dc46..0239c7e8290f95232b920680f5c66d53f2fb12e9 100644 (file)
--- a/src/test/java/frc/robot/util/PathCheck.java
+++ b/src/test/java/frc/robot/util/PathCheck.java
@@ -21,7 +21,6 @@ public class PathCheck {
     public static void registerPlaceholderCommands() {
         NamedCommands.registerCommand("Extend intake", new InstantCommand());
         NamedCommands.registerCommand("Intake", new InstantCommand());
-        NamedCommands.registerCommand("Climb", new InstantCommand());
     }
 
     /**