Team4388/2023WayOfTheRobot
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cleanup before master merge

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This commit is contained in:
aarav18
2023-02-02 20:54:12 -07:00
parent e3d591674a
commit eb8a4ac6be
9 changed files with 9 additions and 253 deletions
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src/main/java/frc4388/robot/Robot.java
-54
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@@ -7,21 +7,9 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AutoBalance;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
/**
@@ -37,34 +25,6 @@ public class Robot extends TimedRobot {
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
public static class MicroBot extends SubsystemBase {
public WPI_Pigeon2 pigeon = new WPI_Pigeon2(14);
public RobotGyro gyro = new RobotGyro(pigeon);
public TalonSRX frontLeft = new TalonSRX(2);
public TalonSRX backLeft = new TalonSRX(3);
public TalonSRX backRight = new TalonSRX(5);
public TalonSRX frontRight = new TalonSRX(4);
public MicroBot() {
frontRight.configFactoryDefault();
frontLeft.configFactoryDefault();
backLeft.configFactoryDefault();
backRight.configFactoryDefault();
frontLeft.setInverted(true);
backLeft.setInverted(true);
}
public void setOutput(double output) {
frontRight.set(ControlMode.PercentOutput, output);
frontLeft.set(ControlMode.PercentOutput, output);
backLeft.set(ControlMode.PercentOutput, output);
backRight.set(ControlMode.PercentOutput, output);
}
}
// private MicroBot bot = new MicroBot();
/**
* This function is run when the robot is first started up and should be
@@ -75,8 +35,6 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
// bot.setDefaultCommand(new AutoBalance(bot));
}
/**
@@ -118,13 +76,6 @@ public class Robot extends TimedRobot {
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
@@ -149,8 +100,6 @@ public class Robot extends TimedRobot {
m_autonomousCommand.cancel();
}
m_robotTime.startMatchTime();
// m_robotContainer.gyroRef.reset();
}
/**
@@ -158,9 +107,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
// SmartDashboard.putNumber("yaw", m_robotContainer.m_robotMap.gyro.getAngle());
SmartDashboard.putNumber("Robot.java Pitch", m_robotContainer.m_robotMap.gyro.getPitch());
// SmartDashboard.putNumber("roll", m_robotContainer.m_robotMap.gyro.getRoll());
}
/**