smartdashboard cleanup

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()));

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;

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);
   }
 }

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;
 	}
 

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() {

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());
   }
 
   /**

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;
 

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\
+    // This method will be called once per scheduler run
-    SmartDashboard.putNumber("Gyro", getGyroAngle());
   }
 
   public void shiftDown() {