From 25958d76046ff7f270eed072f24698cc571e2741 Mon Sep 17 00:00:00 2001
From: Wesley28w <wesleycwong@gmail.com>
Date: Fri, 27 Mar 2026 08:32:20 -0700
Subject: [PATCH] delete climb, fix error

---
 src/main/java/frc/robot/RobotContainer.java   |  5 ++-
 src/main/java/frc/robot/RobotId.java          |  2 +-
 .../robot/commands/gpm/HardstopWarning.java   | 14 ++++----
 .../controls/PS5ControllerDriverConfig.java   | 32 -------------------
 4 files changed, 10 insertions(+), 43 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 751d162..7476124 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
 import frc.robot.commands.gpm.ClimbDriveCommand;
-import frc.robot.commands.gpm.HardstopWarning;
+// import frc.robot.commands.gpm.HardstopWarning;
 import frc.robot.commands.gpm.IntakeMovementCommand;
 import frc.robot.commands.gpm.RunSpindexer;
 import frc.robot.commands.gpm.Superstructure;
@@ -157,8 +157,7 @@ public class RobotContainer {
     }
 
 	if (intake != null && hood != null && turret != null)
-		CommandScheduler.getInstance().schedule(new HardstopWarning(hood, intake, turret));
-
+		// CommandScheduler.getInstance().schedule(new HardstopWarning(hood, intake, turret)); (no more crt for this)
     // This is really annoying so it's disabled
     DriverStation.silenceJoystickConnectionWarning(true);
 
diff --git a/src/main/java/frc/robot/RobotId.java b/src/main/java/frc/robot/RobotId.java
index 9def1ac..b4df9f1 100644
--- a/src/main/java/frc/robot/RobotId.java
+++ b/src/main/java/frc/robot/RobotId.java
@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.Preferences;
  */
 public enum RobotId {
     Default,
-    PrimeJr, WaffleHouse, TwinTake, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
+    PrimeJr, WaffleHouse, TwinBot, SwerveCompetition, Vertigo, Vivace, Phil, BetaBot,
     ClassBot1, ClassBot2, ClassBot3, ClassBot4,
     TestBed1, TestBed2;
 
diff --git a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
index 7427753..f55702d 100644
--- a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
+++ b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
@@ -32,13 +32,13 @@ public class HardstopWarning extends Command {
 		SmartDashboard.putBoolean("Hood OK", hood.getPositionDeg() >= HoodConstants.MIN_ANGLE - epsilon);
 		SmartDashboard.putBoolean("Intake OK", intake.getPosition() >= IntakeConstants.STARTING_POINT - epsilon);
 
-		if (Math.abs(turret.getPositionRad()) <= epsilon) {
-			var encoderPositions = turret.getEncoderPositions();
-			if (Math.abs(encoderPositions.getFirst()) <= epsilon && Math.abs(encoderPositions.getSecond()) <= epsilon)
-				turretStatus = "Ok";
-			else
-				turretStatus = "Bad";
-		}
+		// if (Math.abs(turret.getPositionRad()) <= epsilon) {
+		// 	var encoderPositions = turret.getEncoderPositions();
+		// 	if (Math.abs(encoderPositions.getFirst()) <= epsilon && Math.abs(encoderPositions.getSecond()) <= epsilon)
+		// 		turretStatus = "Ok";
+		// 	else
+		// 		turretStatus = "Bad";
+		// }
 
 		SmartDashboard.putString("Turret Status", turretStatus);
 	}
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index abc8eb7..4008192 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -155,40 +155,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             controller.get(PS5Button.SQUARE).toggleOnTrue(autoShoot);
         }
 
-        // Climb
-        if (climb != null) {
-            // Calibration
-            controller.get(PS5Button.OPTIONS).onTrue(new InstantCommand(() -> {
-                climb.hardstopCalibration();
-            })).onFalse(new InstantCommand(() -> {
-                climb.stopCalibrating();
-            }));
-
-            // Climb retract
-            controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
-                climb.retract();
-            }));
-
-            // Go to up position
-            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
-                climb.goUp();
-            }));
-
-            // Go to climb position
-            controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> {
-                climb.climbPosition();
-            }));
-        }
-
         // Hood
         if (hood != null) {
-            // Calibration
-            // controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
-            //     hood.calibrate();
-            // })).onFalse(new InstantCommand(() -> {
-            //     hood.stopCalibrating();
-            // }));
-
             // Set the hood down -- for safety measures under trench
             controller.get(DPad.LEFT).onTrue(new InstantCommand(()->{
                 hood.forceHoodDown(true);
-- 
2.39.5