From 04c7386b67db17aaa7ff908f0d2e9e32ebb0d45a Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 16 Mar 2023 23:13:10 -0600 Subject: [PATCH] import cleanup --- src/main/java/frc4388/robot/Constants.java | 2 -- src/main/java/frc4388/robot/Robot.java | 18 ------------------ .../java/frc4388/robot/RobotContainer.java | 4 ---- .../Placement/DriveToLimeDistance.java | 2 -- .../java/frc4388/robot/subsystems/Arm.java | 9 --------- .../java/frc4388/robot/subsystems/Claw.java | 2 -- .../frc4388/robot/subsystems/Limelight.java | 4 ---- .../frc4388/robot/subsystems/SwerveDrive.java | 4 ---- .../java/frc4388/robot/subsystems/Vision.java | 1 - .../controller/DeadbandedXboxController.java | 6 ------ .../utility/controller/XboxTriggerButton.java | 1 - 11 files changed, 53 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index fc518b1..f771c80 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -7,8 +7,6 @@ package frc4388.robot; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index fbdf90c..5978788 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -7,20 +7,6 @@ package frc4388.robot; -import java.lang.System; -import java.lang.reflect.Array; -import java.util.Arrays; - -import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.DemandType; -import com.ctre.phoenix.motorcontrol.can.MotControllerJNI; - -import java.io.File; -import java.io.IOException; -import java.io.PrintWriter; - -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -28,10 +14,6 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc4388.utility.DeferredBlock; import frc4388.utility.RobotTime; -import frc4388.robot.subsystems.Location; -import frc4388.robot.subsystems.Apriltags.Tag; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - /** * The VM is configured to automatically run this class, and to call the * functions corresponding to each mode, as described in the TimedRobot diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 54a7afd..e62c452 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -8,9 +8,7 @@ package frc4388.robot; import java.util.function.Consumer; -import java.util.function.UnaryOperator; -import edu.wpi.first.wpilibj.event.EventLoop; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ConditionalCommand; @@ -30,8 +28,6 @@ import frc4388.robot.commands.Autos.AutoBalance; import frc4388.robot.commands.Autos.PlaybackChooser; import frc4388.robot.commands.Placement.DriveToLimeDistance; import frc4388.robot.commands.Placement.LimeAlign; -import frc4388.robot.commands.Swerve.JoystickPlayback; -import frc4388.robot.commands.Swerve.JoystickRecorder; import frc4388.robot.commands.Swerve.RotateToAngle; import frc4388.utility.controller.DeadbandedXboxController; import frc4388.utility.controller.XboxController; diff --git a/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java b/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java index ac49334..613ec99 100644 --- a/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java +++ b/src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java @@ -7,8 +7,6 @@ package frc4388.robot.commands.Placement; import java.util.function.DoubleSupplier; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc4388.robot.RobotContainer; import frc4388.robot.commands.PelvicInflammatoryDisease; import frc4388.robot.subsystems.Limelight; import frc4388.robot.subsystems.SwerveDrive; diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index db605ec..47beeb2 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -1,28 +1,20 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.LimitSwitchNormal; import com.ctre.phoenix.motorcontrol.LimitSwitchSource; -import com.ctre.phoenix.motorcontrol.RemoteSensorSource; -import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice; -import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoderConfiguration; import frc4388.robot.Constants.ArmConstants; -import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.DeferredBlock; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Arm extends SubsystemBase { private WPI_TalonFX m_tele; public WPI_TalonFX m_pivot; private CANCoder m_pivotEncoder; - private boolean m_debug; // Moves arm to distance [dist] then returns new ang public Arm(WPI_TalonFX pivot, WPI_TalonFX tele, CANCoder encoder, boolean debug) { @@ -140,7 +132,6 @@ public class Arm extends SubsystemBase { @Override public void periodic() { - double degrees = Math.abs(m_pivotEncoder.getAbsolutePosition() - 135); if (m_tele.isFwdLimitSwitchClosed() == 1 && tele_reset) { var tele_soft = m_tele.getSelectedSensorPosition(); diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java index 7d6d12c..8e87ada 100644 --- a/src/main/java/frc4388/robot/subsystems/Claw.java +++ b/src/main/java/frc4388/robot/subsystems/Claw.java @@ -1,12 +1,10 @@ package frc4388.robot.subsystems; -import edu.wpi.first.hal.PWMJNI; import edu.wpi.first.wpilibj.PWM; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Claw extends SubsystemBase { private PWM m_clawMotor; private boolean m_open = false; - private boolean m_disabled = false; // Opens claw public Claw(PWM m_clawMotor) { diff --git a/src/main/java/frc4388/robot/subsystems/Limelight.java b/src/main/java/frc4388/robot/subsystems/Limelight.java index 9670b33..467aa51 100644 --- a/src/main/java/frc4388/robot/subsystems/Limelight.java +++ b/src/main/java/frc4388/robot/subsystems/Limelight.java @@ -5,19 +5,15 @@ package frc4388.robot.subsystems; import java.util.ArrayList; -import java.util.List; -import org.opencv.core.Point; import org.photonvision.PhotonCamera; import org.photonvision.common.hardware.VisionLEDMode; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; -import org.photonvision.targeting.TargetCorner; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.VisionConstants; -import frc4388.utility.AbhiIsADumbass; public class Limelight extends SubsystemBase { private PhotonCamera cam; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 0b24778..bbe2fa8 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,16 +4,12 @@ package frc4388.robot.subsystems; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; 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.wpilibj2.command.SubsystemBase; -import edu.wpi.first.math.kinematics.SwerveModulePosition; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.RobotGyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 3731849..371f621 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -3,7 +3,6 @@ package frc4388.robot.subsystems; import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableInstance; diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java index d339841..4577a2e 100644 --- a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java +++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java @@ -4,7 +4,6 @@ import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.XboxController; -import frc4388.robot.Constants.OIConstants; public class DeadbandedXboxController extends XboxController { public DeadbandedXboxController(int port) { super(port); } @@ -21,11 +20,6 @@ public class DeadbandedXboxController extends XboxController { Translation2d translation2d = new Translation2d(x, y); double magnitude = translation2d.getNorm(); - // if (OIConstants.SKEW_STICKS && magnitude >= 1) { - // System.out.println("if statement running"); - // return translation2d.div(magnitude); - // } - if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0); return translation2d; diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java index e263633..8c2fe88 100644 --- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java +++ b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java @@ -1,7 +1,6 @@ package frc4388.utility.controller; import edu.wpi.first.wpilibj2.command.button.Button; -import frc4388.utility.controller.XboxController; /** * Mapping for the Xbox controller triggers to allow triggers to be defined as