From 26ffb88ed7f87db6dd2687234062fcb12c79433b Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 16:54:46 -0700 Subject: [PATCH] very bored --- src/main/java/frc4388/robot/RobotContainer.java | 4 +--- src/main/java/frc4388/robot/RobotMap.java | 4 ++-- src/main/java/frc4388/robot/commands/Shoot.java | 4 +--- src/main/java/frc4388/robot/subsystems/Hood.java | 5 +---- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 3 +-- src/main/java/frc4388/robot/subsystems/Turret.java | 6 ++---- src/main/java/frc4388/robot/subsystems/Vision.java | 6 +----- 7 files changed, 9 insertions(+), 23 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ae911a6..bc0c544 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,20 +4,18 @@ package frc4388.robot; -import com.revrobotics.CANSparkMax; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.TalonFX; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; + import frc4388.robot.Constants.*; import frc4388.robot.commands.AimToCenter; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; -//import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 29ebda8..53cfd6e 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -4,8 +4,6 @@ package frc4388.robot; -import javax.swing.text.WrappedPlainView; - import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration; @@ -14,7 +12,9 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.motorcontrol.Spark; + import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.SwerveDriveConstants; diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index f82bc1e..b962d4b 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -4,10 +4,8 @@ package frc4388.robot.commands; -import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; - import edu.wpi.first.wpilibj2.command.CommandBase; + import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.SwerveDrive; diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 72bb3f8..995af74 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -4,19 +4,16 @@ package frc4388.robot.subsystems; -import javax.sql.rowset.WebRowSet; - import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxPIDController; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANSparkMax.SoftLimitDirection; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 93cffc9..716a2ed 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -13,9 +13,8 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; + import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; import frc4388.utility.RobotGyro; diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 28c9583..21e7a73 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -6,19 +6,17 @@ package frc4388.robot.subsystems; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANEncoder; import com.revrobotics.CANSparkMax; -import com.revrobotics.MotorFeedbackSensor; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.SparkMaxPIDController; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; + import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; -import com.revrobotics.CANSparkMax.SoftLimitDirection; public class Turret extends SubsystemBase { diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 0b6ca09..686ef2c 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -8,12 +8,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTableEntry; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc4388.robot.Constants.ShooterConstants; + import frc4388.robot.Constants.VisionConstants; -import frc4388.robot.subsystems.BoomBoom; -import frc4388.robot.subsystems.Turret; -import frc4388.robot.subsystems.Hood; import frc4388.utility.controller.IHandController; public class Vision extends SubsystemBase {