From: iefomit Date: Mon, 20 Apr 2026 14:43:52 +0000 (-0700) Subject: add TODOs X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=51df8dbe90418e69f1b18015f1453b997819747c;p=FRC2026.git add TODOs --- diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7263be7..1018db1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,7 +11,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.PS5Controller; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; @@ -76,9 +75,6 @@ public class RobotContainer { private EMABreaker breaker = null; - // TODO: move to correct robot and put the correct port? - private PS5Controller ps5 = new PS5Controller(0); - // auto Command selection private final SendableChooser autoChooser = new SendableChooser<>(); diff --git a/src/main/java/frc/robot/commands/gpm/PowerControl.java b/src/main/java/frc/robot/commands/gpm/PowerControl.java index cc6127f..8e93384 100644 --- a/src/main/java/frc/robot/commands/gpm/PowerControl.java +++ b/src/main/java/frc/robot/commands/gpm/PowerControl.java @@ -1,26 +1,22 @@ package frc.robot.commands.gpm; import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Intake.Intake; import frc.robot.subsystems.PowerControl.Battery; import frc.robot.subsystems.PowerControl.EMABreaker; -import frc.robot.subsystems.drivetrain.Drivetrain; -import frc.robot.subsystems.hood.Hood; -import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.spindexer.Spindexer; -import frc.robot.subsystems.turret.Turret; + public class PowerControl extends Command { // my beautiful power control subsystems private EMABreaker breaker; private Battery battery; // the real subsystems - private Drivetrain drivetrain; - private Shooter shooter; - private Turret turret; - private Hood hood; - private Intake intake; - private Spindexer spindexer; + // TODO: implement current limit logic for these subsystems + // private Drivetrain drivetrain; + // private Shooter shooter; + // private Turret turret; + // private Hood hood; + // private Intake intake; + // private Spindexer spindexer; public SeverityLevel severityLevel; @@ -35,22 +31,24 @@ public class PowerControl extends Command { public PowerControl( EMABreaker breaker, // pc - Battery battery, // pc - Drivetrain drivetrain, // main draw - Shooter shooter, // aiming (vital) - Turret turret, // aiming - Hood hood, // aiming - Intake intake, // bps - Spindexer spindexer // bps + Battery battery // pc + // TODO: add subsystems back when implementing logic: + // Drivetrain drivetrain, // main draw + // Shooter shooter, // aiming (vital) + // Turret turret, // aiming + // Hood hood, // aiming + // Intake intake, // bps + // Spindexer spindexer // bps ) { this.breaker = breaker; this.battery = battery; - this.drivetrain = drivetrain; - this.shooter = shooter; - this.turret = turret; - this.hood = hood; - this.intake = intake; - this.spindexer = spindexer; + // TODO: add these back when implementing logic: + // this.drivetrain = drivetrain; + // this.shooter = shooter; + // this.turret = turret; + // this.hood = hood; + // this.intake = intake; + // this.spindexer = spindexer; addRequirements(breaker, battery); // not sure if I'll need requirement access for setting new current limits } diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index cd5208d..6a7caa8 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -13,19 +13,16 @@ import frc.robot.commands.gpm.ReverseMotors; import frc.robot.commands.gpm.RunSpindexer; import frc.robot.commands.gpm.Superstructure; import frc.robot.constants.Constants; -import frc.robot.constants.swerve.DriveConstants; import frc.robot.subsystems.Intake.Intake; import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.hood.Hood; 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 lib.controllers.PS5Controller; import lib.controllers.PS5Controller.DPad; import lib.controllers.PS5Controller.PS5Axis; import lib.controllers.PS5Controller.PS5Button; -import org.littletonrobotics.junction.Logger; /** * Driver controls for the PS5 controller @@ -40,7 +37,6 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { private Hood hood; private Intake intake; private Spindexer spindexer; - private double originalSpindexerCurrentLimit; public PS5ControllerDriverConfig( Drivetrain drive, diff --git a/src/main/java/frc/robot/subsystems/PowerControl/Battery.java b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java index fcb5221..e6dda68 100644 --- a/src/main/java/frc/robot/subsystems/PowerControl/Battery.java +++ b/src/main/java/frc/robot/subsystems/PowerControl/Battery.java @@ -1,6 +1,5 @@ package frc.robot.subsystems.PowerControl; -import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 9ace548..d8b595a 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -11,8 +11,6 @@ import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.sim.TalonFXSimState; import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.filter.Debouncer; -import edu.wpi.first.math.filter.Debouncer.DebounceType; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; @@ -27,7 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.constants.IdConstants; -import frc.robot.util.ModifiedCRT; public class Turret extends SubsystemBase implements TurretIO{ // Super low magnitude filter for the position to make it less jittery @@ -38,7 +35,6 @@ public class Turret extends SubsystemBase implements TurretIO{ public boolean locked = false; private boolean calibrating; - private Debouncer calibrationDebouncer = new Debouncer(0.5, DebounceType.kRising); /* ---------------- Hardware ---------------- */