From a88b2a72e37b4b6c3b5a6ee9b1d7e80e9036ff21 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Wed, 22 Mar 2023 20:00:31 -0600 Subject: [PATCH] smartdashboard cleanup --- src/main/java/frc4388/robot/RobotContainer.java | 3 --- src/main/java/frc4388/robot/RobotMap.java | 1 - .../frc4388/robot/commands/Arm/PivotCommand.java | 2 -- .../frc4388/robot/commands/Autos/AutoBalance.java | 2 -- src/main/java/frc4388/robot/subsystems/Arm.java | 4 ---- src/main/java/frc4388/robot/subsystems/LED.java | 2 -- .../java/frc4388/robot/subsystems/Limelight.java | 12 ------------ .../java/frc4388/robot/subsystems/SwerveDrive.java | 6 +----- 8 files changed, 1 insertion(+), 31 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index cd728ce..d1d10a3 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -14,7 +14,6 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.REVLibError; import com.revrobotics.CANSparkMax.FaultID; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ConditionalCommand; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -288,8 +287,6 @@ public class RobotContainer { new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final .onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits())); - // SmartDashboard.putBoolean("isn't SparkMAX", ); - new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) .onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin())) .onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin())); diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 77fda47..4d2dd0c 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -15,7 +15,6 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.PWM; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc4388.robot.Constants.ArmConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.subsystems.SwerveModule; diff --git a/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java b/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java index 279e1b0..30cab72 100644 --- a/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java +++ b/src/main/java/frc4388/robot/commands/Arm/PivotCommand.java @@ -4,7 +4,6 @@ package frc4388.robot.commands.Arm; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc4388.robot.commands.PelvicInflammatoryDisease; import frc4388.robot.subsystems.Arm; @@ -27,7 +26,6 @@ public class PivotCommand extends PelvicInflammatoryDisease { @Override public void runWithOutput(double output) { - SmartDashboard.putNumber("pivot output", output); arm.setRotVel(output); } } diff --git a/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java index 4d18c99..b460e44 100644 --- a/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java +++ b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java @@ -6,7 +6,6 @@ package frc4388.robot.commands.Autos; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc4388.robot.commands.PelvicInflammatoryDisease; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.RobotGyro; @@ -28,7 +27,6 @@ public class AutoBalance extends PelvicInflammatoryDisease { @Override public double getError() { var pitch = gyro.getRoll(); - SmartDashboard.putNumber("pitch", pitch); return pitch; } diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index 94081df..ddc127d 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -8,7 +8,6 @@ import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoderConfiguration; import frc4388.robot.Constants.ArmConstants; import frc4388.utility.DeferredBlock; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Arm extends SubsystemBase { @@ -43,8 +42,6 @@ public class Arm extends SubsystemBase { if (vel > 1) vel = 1; var degrees = Math.abs(getArmRotation()) - 135; - SmartDashboard.putNumber("arm degrees", degrees); - SmartDashboard.putNumber("arm rot vel", vel); if ((degrees < 2 && vel < 0) || (degrees > 110 && vel > 0)) { m_pivot.set(ControlMode.PercentOutput, 0); @@ -150,7 +147,6 @@ public class Arm extends SubsystemBase { } // double x = Math.cos(Math.toRadians(degrees)); - SmartDashboard.putNumber("arm length", getArmLength()); } public void killSoftLimits() { diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index 0d4af80..40d84ac 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -8,7 +8,6 @@ package frc4388.robot.subsystems; import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.LEDConstants; @@ -35,7 +34,6 @@ public class LED extends SubsystemBase { @Override public void periodic(){ - SmartDashboard.putNumber("LED", m_currentPattern.getValue()); } /** diff --git a/src/main/java/frc4388/robot/subsystems/Limelight.java b/src/main/java/frc4388/robot/subsystems/Limelight.java index 9d1289b..e8aaed7 100644 --- a/src/main/java/frc4388/robot/subsystems/Limelight.java +++ b/src/main/java/frc4388/robot/subsystems/Limelight.java @@ -4,33 +4,21 @@ package frc4388.robot.subsystems; -import java.io.IOException; import java.util.ArrayList; import java.util.List; -import java.util.Optional; -import org.photonvision.EstimatedRobotPose; import org.photonvision.PhotonCamera; -import org.photonvision.PhotonPoseEstimator; -import org.photonvision.PhotonPoseEstimator.PoseStrategy; 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.apriltag.AprilTag; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.VisionConstants; public class Limelight extends SubsystemBase { private PhotonCamera cam; - private PhotonPoseEstimator photonPoseEstimator; private boolean lightOn; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 055230b..69e3818 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -12,7 +12,6 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.RobotGyro; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public class SwerveDrive extends SubsystemBase { @@ -58,7 +57,6 @@ public class SwerveDrive extends SubsystemBase { if (rightStick.getNorm() > 0.05) { rotTarget = gyro.getAngle(); rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED; - SmartDashboard.putBoolean("drift correction", false); stopped = false; } else if(leftStick.getNorm() > 0.05) { if (!stopped) { @@ -66,7 +64,6 @@ public class SwerveDrive extends SubsystemBase { stopped = true; } - SmartDashboard.putBoolean("drift correction", true); rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED; } @@ -131,8 +128,7 @@ public class SwerveDrive extends SubsystemBase { @Override public void periodic() { - // This method will be called once per scheduler run\ - SmartDashboard.putNumber("Gyro", getGyroAngle()); + // This method will be called once per scheduler run } public void shiftDown() {