From a850ad4fa29fedab5d4ecc5290d85f87ce7ebd69 Mon Sep 17 00:00:00 2001 From: iefomit Date: Wed, 22 Apr 2026 21:23:05 -0700 Subject: [PATCH] clutter --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../auto_comm/DynamicAutoBuilder.java | 31 ++----------------- .../commands/gpm/RunSpindexerWithStop.java | 15 --------- .../constants/swerve/DriveConstants.java | 6 ++-- 4 files changed, 6 insertions(+), 48 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 63deb64..9187099 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -303,7 +303,7 @@ public class RobotContainer { addAuto("RightShallowDoubleSwipe"); - DynamicAutoBuilder dynamicAutoBuilder = new DynamicAutoBuilder(spindexer, turret, hood, intake, drive); + DynamicAutoBuilder dynamicAutoBuilder = new DynamicAutoBuilder(spindexer, turret, hood, intake); // names String leftDynamicLiberalDoubleSwipe = "LeftDynamicDoubleLiberalSwipe"; diff --git a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java index d219996..0404c4b 100644 --- a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java +++ b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java @@ -3,7 +3,6 @@ package frc.robot.commands.auto_comm; import edu.wpi.first.wpilibj2.command.*; import frc.robot.commands.gpm.RunSpindexerWithStop; import frc.robot.subsystems.Intake.Intake; -import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.hood.Hood; import frc.robot.subsystems.spindexer.Spindexer; import frc.robot.subsystems.turret.Turret; @@ -16,14 +15,12 @@ public class DynamicAutoBuilder { private final Turret turret; private final Hood hood; private final Intake intake; - private final Drivetrain drive; - public DynamicAutoBuilder(Spindexer spindexer, Turret turret, Hood hood, Intake intake, Drivetrain drive) { + public DynamicAutoBuilder(Spindexer spindexer, Turret turret, Hood hood, Intake intake) { this.spindexer = spindexer; this.turret = turret; this.hood = hood; this.intake = intake; - this.drive = drive; } /* @@ -40,19 +37,16 @@ public class DynamicAutoBuilder { runSpindexerWithAbort(), departCommand(), - // new InstantCommand(() -> drive.setPose(Translation2d.kZero)), new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"), startShootingCommand(), runSpindexerWithAbort(), departCommand(), - // new InstantCommand(() -> drive.setPose(Translation2d.kZero)), new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"), startShootingCommand(), runSpindexerWithAbort(), departCommand(), - // new InstantCommand(() -> drive.setPose(Translation2d.kZero)), new PathPlannerAuto(left ? "LeftSwipeTwo" : "RightSwipeTwo"), startShootingCommand(), runSpindexerWithAbort()); @@ -114,29 +108,8 @@ public class DynamicAutoBuilder { } private Command runSpindexerWithAbort() { - // should race: when a command finnishes (will always be the wait until command) - // then we will end the command - // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(new - // WaitCommand(5.0)); - - // var timer = new Timer(); - // timer.start(); - - // return new RunSpindexer(spindexer, turret, hood, intake).raceWith( - // new WaitUntilCommand(() -> spindexer.spinningAir() && - // timer.hasElapsed(3.0))); - // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(new - // WaitCommand(3.0)); - // return new RunSpindexer(spindexer, turret, hood, intake).until(() -> - // spindexer.spinningAir() && timer.hasElapsed(3.0)); - - // has an isFinnished so it should work + // has an isFinnished so works return new RunSpindexerWithStop(spindexer, turret, hood, intake); - - // return new ParallelDeadlineGroup(new WaitUntilCommand(() -> - // spindexer.spinningAir()), new RunSpindexer(spindexer, turret, hood, intake)); - // return new ParallelDeadlineGroup(new WaitCommand(5.0), new - // RunSpindexer(spindexer, turret, hood, intake)); } private Command startShootingCommand() { diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java index b3f592b..3c2526c 100644 --- a/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java +++ b/src/main/java/frc/robot/commands/gpm/RunSpindexerWithStop.java @@ -32,7 +32,6 @@ public class RunSpindexerWithStop extends Command { private Timer runTimer = new Timer(); - private boolean seizing; private Debouncer debouncer = new Debouncer(0.3, DebounceType.kRising); @@ -45,11 +44,6 @@ public class RunSpindexerWithStop extends Command { addRequirements(spindexer); } - // public RunSpindexer(Spindexer spindexer) { - // this.spindexer = spindexer; - // addRequirements(spindexer); - // } - @Override public void initialize() { wasHoodForcedDown = hood.getHoodForcedDown(); @@ -98,15 +92,6 @@ public class RunSpindexerWithStop extends Command { } } - // need to test - // // intake jostle - // if (runTimer.hasElapsed(3.0)) { - // seizing = true; - // new IntakeMovementCommand(intake).until(() -> !seizing); - // } else { - // seizing = false; - // } - if (!Constants.DISABLE_SMART_DASHBOARD) { SmartDashboard.putBoolean("Spindexer Jamming", reversing); } diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java index ad14e7f..4f10642 100644 --- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java +++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java @@ -227,9 +227,9 @@ public class DriveConstants { MODULE_CONSTANTS = COTSFalconSwerveConstants.SDSMK5n(DRIVE_GEAR_RATIO); } else if(robotId == RobotId.TwinBot){ - STEER_OFFSET_FRONT_LEFT = 301.201172 - 350 + 180; - STEER_OFFSET_FRONT_RIGHT = 67.324219 + 180; - STEER_OFFSET_BACK_LEFT = 39.814463 + 180 + 180; + STEER_OFFSET_FRONT_LEFT = 131.201172; + STEER_OFFSET_FRONT_RIGHT = 247.324219; + STEER_OFFSET_BACK_LEFT = 39.814463; STEER_OFFSET_BACK_RIGHT = 294.873047; // MK5n gear ratio -- 2.39.5