From 9647477bcc9c1b06cf7b4a128c25ed8ee97b7e74 Mon Sep 17 00:00:00 2001 From: iefomit Date: Wed, 8 Apr 2026 15:57:54 -0700 Subject: [PATCH] - imports --- .SysId/sysid.json | 1 - .../frc/robot/commands/drive_comm/DefaultDriveCommand.java | 2 -- src/main/java/frc/robot/commands/gpm/LockedShoot.java | 5 ----- .../java/frc/robot/constants/swerve/DriveConstants.java | 6 +++--- src/main/java/frc/robot/util/PhaseManager.java | 2 -- sysid.json | 1 - 6 files changed, 3 insertions(+), 14 deletions(-) delete mode 100644 .SysId/sysid.json delete mode 100644 sysid.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json deleted file mode 100644 index 0967ef4..0000000 --- a/.SysId/sysid.json +++ /dev/null @@ -1 +0,0 @@ -{} diff --git a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java index 304889a..8164d35 100644 --- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java +++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java @@ -3,9 +3,7 @@ package frc.robot.commands.drive_comm; import org.littletonrobotics.junction.Logger; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Rectangle2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; diff --git a/src/main/java/frc/robot/commands/gpm/LockedShoot.java b/src/main/java/frc/robot/commands/gpm/LockedShoot.java index e7a56f8..358f825 100644 --- a/src/main/java/frc/robot/commands/gpm/LockedShoot.java +++ b/src/main/java/frc/robot/commands/gpm/LockedShoot.java @@ -1,8 +1,5 @@ package frc.robot.commands.gpm; -import org.littletonrobotics.junction.Logger; - - import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Pose2d; @@ -13,7 +10,6 @@ import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.geometry.Twist2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.constants.Constants; import frc.robot.constants.FieldConstants; @@ -23,7 +19,6 @@ import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.hood.Hood; import frc.robot.subsystems.hood.HoodConstants; import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.spindexer.Spindexer; import frc.robot.subsystems.turret.Turret; import frc.robot.subsystems.turret.TurretConstants; import frc.robot.util.PhaseManager; diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java index b3f5347..248e26a 100644 --- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java +++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java @@ -125,9 +125,9 @@ public class DriveConstants { public static COTSFalconSwerveConstants MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK4i(DRIVE_GEAR_RATIO); /* Swerve Current Limiting */ - public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 20; - public static final int STEER_PEAK_CURRENT_LIMIT = 30; - public static final double STEER_PEAK_CURRENT_DURATION = 0.1; + public static final int STEER_CONTINUOUS_CURRENT_LIMIT = 15; + public static final int STEER_PEAK_CURRENT_LIMIT = 15; + public static final double STEER_PEAK_CURRENT_DURATION = 0.01; public static final boolean STEER_ENABLE_CURRENT_LIMIT = true; public static final int DRIVE_CONTINUOUS_CURRENT_LIMIT = 40; diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java index 02b266c..bcc3ab1 100644 --- a/src/main/java/frc/robot/util/PhaseManager.java +++ b/src/main/java/frc/robot/util/PhaseManager.java @@ -1,7 +1,5 @@ package frc.robot.util; -import org.littletonrobotics.junction.Logger; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Translation2d; import frc.robot.constants.FieldConstants; diff --git a/sysid.json b/sysid.json deleted file mode 100644 index 0967ef4..0000000 --- a/sysid.json +++ /dev/null @@ -1 +0,0 @@ -{} -- 2.39.5