From: iefomit Date: Fri, 17 Apr 2026 01:03:00 +0000 (-0700) Subject: more unused X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=cacae6659325a845f0e27ad96abd0b6a05f0f34f;p=FRC2026.git more unused --- diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6d17086..f9bf6fa 100644 --- 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 autoChooser = new SendableChooser<>(); diff --git a/src/main/java/frc/robot/constants/IdConstants.java b/src/main/java/frc/robot/constants/IdConstants.java index 160c8da..179d617 100644 --- 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 e0cc573..56f6352 100644 --- 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 65e9be5..56ef814 100644 --- 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 e9cb913..b4b2ae6 100644 --- 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 9343b5c..0239c7e 100644 --- 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()); } /**