From 2a89f811654e6b9dbc8afe2a1b3753801735d5da Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 7 Apr 2026 19:06:18 -0700 Subject: [PATCH] not needed --- src/main/java/frc/robot/subsystems/LED/LED.java | 2 +- src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/LED/LED.java b/src/main/java/frc/robot/subsystems/LED/LED.java index b1e1062..4e49e16 100644 --- a/src/main/java/frc/robot/subsystems/LED/LED.java +++ b/src/main/java/frc/robot/subsystems/LED/LED.java @@ -62,7 +62,7 @@ public class LED extends SubsystemBase { candle.clearAllAnimations(); lightsOff(); - System.out.println("CANdle features: " + featureConf + ", LED config: " + ledConf); + // System.out.println("CANdle features: " + featureConf + ", LED config: " + ledConf); SmartDashboard.putData("LED Disable", new InstantCommand(() -> {forceOff = true; lightsOff();}).ignoringDisable(true)); SmartDashboard.putData("LED Enable", new InstantCommand(() -> forceOff = false).ignoringDisable(true)); diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index f144887..5b1de6d 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -355,9 +355,7 @@ public class Drivetrain extends SubsystemBase { if (gyroBiasEstimator.getSampleCount() >= GyroBiasConstants.MIN_SAMPLES) { double fullBias = gyroBiasEstimator.getAndResetBias(); double bias = gyroBiasEstimator.applyPartialCorrection(fullBias); - System.out.println("bias: " + bias); - System.out.println("FullBias"+ fullBias); - + if (Math.abs(bias) > GyroBiasConstants.MIN_CORRECTION_RAD) { gyroIO.setYaw(new Rotation2d(currentGyroYaw + bias)); } -- 2.39.5