From: Wesley28w <wesleycwong@gmail.com>
Date: Wed, 1 Apr 2026 16:40:05 +0000 (-0700)
Subject: clean up
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3cf6666de7530033f56f7973af1fa9b8e6bbadcc;p=FRC2026.git

clean up
---

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index ae812cd..2bdab30 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -70,24 +70,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             CommandScheduler.getInstance().cancelAll();
         }));
 
-        // Align wheels
-        controller.get(PS5Button.MUTE).onTrue(new FunctionalCommand(
-                () -> getDrivetrain().setStateDeadband(false),
-                getDrivetrain()::alignWheels,
-                interrupted -> getDrivetrain().setStateDeadband(true),
-                () -> false, getDrivetrain()).withTimeout(2));
-
-        // Trench align
-        controller.get(PS5Button.CIRCLE).whileTrue(new StartEndCommand(
-                () -> {
-                    getDrivetrain().setTrenchAssist(true);
-                    getDrivetrain().setTrenchAlign(true);
-                },
-                () -> {
-                    getDrivetrain().setTrenchAssist(false);
-                    getDrivetrain().setTrenchAlign(false);
-                }));
-
         // Reverse motors
         if (intake != null && spindexer != null) {
             controller.get(PS5Button.LB).whileTrue(new ReverseMotors(intake, spindexer));
@@ -166,23 +148,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                 hood.forceHoodDown(false);
             }));
         }
-
-        // turns it on
-    //     controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> {
-    //         new BrownOutControl(shooter, spindexer, turret, intake, hood, getDrivetrain());
-    //     }));
-
-        // shooter power modifier
-        if (shooter != null) {
-            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
-                double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05);
-                SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", current + 0.05);
-            }));
-            controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
-                double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05);
-                SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", Math.max(0.5, current - 0.05));
-            }));
-        }
     }
 
     @Override