import cleanup

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;

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

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; 

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;

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();

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) {

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;

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;

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;
 

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;

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