From e1c02a1cc751c3029187810cf143d0a2d499c817 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sun, 15 Jan 2023 16:06:05 -0700 Subject: [PATCH] imports hehe --- src/main/java/frc4388/robot/RobotMap.java | 11 ++--------- .../java/frc4388/robot/subsystems/SwerveDrive.java | 4 ---- .../java/frc4388/robot/subsystems/SwerveModule.java | 1 - src/main/java/frc4388/utility/RobotGyro.java | 3 --- 4 files changed, 2 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 31200e1..08fcc1a 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -7,17 +7,11 @@ package frc4388.robot; -import com.ctre.phoenix.motorcontrol.InvertType; -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; -import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.WPI_Pigeon2; import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import frc4388.robot.Constants.GyroConstants; import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.subsystems.SwerveModule; @@ -28,10 +22,9 @@ import frc4388.utility.RobotGyro; * testing and modularization. */ public class RobotMap { - private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14); - public RobotGyro gyro = new RobotGyro(m_pigeon2); + private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14); + public RobotGyro gyro = new RobotGyro(m_pigeon2); - private TalonSRX backleft = new TalonSRX(-1); public SwerveModule leftFront; public SwerveModule rightFront; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 83ebdfd..69d5e31 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,14 +4,10 @@ package frc4388.robot.subsystems; -import com.ctre.phoenix.sensors.WPI_Pigeon2; - -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.trajectory.constraint.SwerveDriveKinematicsConstraint; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index fbf4bb8..7d3553a 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -7,7 +7,6 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonFX; import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java index 3261421..a037914 100644 --- a/src/main/java/frc4388/utility/RobotGyro.java +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -8,9 +8,6 @@ package frc4388.utility; import com.ctre.phoenix.sensors.WPI_Pigeon2; -import com.ctre.phoenix.sensors.PigeonIMU; -import com.ctre.phoenix.sensors.WPI_Pigeon2; -import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; import com.kauailabs.navx.frc.AHRS; // import edu.wpi.first.wpilibj.GyroBase;