Team4388/2023WayOfTheRobot
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cleanup before master merge

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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/commands/DriveWithInput.java
+2 -6
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@@ -4,19 +4,17 @@
package frc4388.robot.commands;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveDrive;
public class DriveWithInput extends CommandBase {
/** Creates a new DriveWithInput. */
private final SwerveDrive swerve;
private final Supplier<Double> xSpeed;
@@ -26,9 +24,7 @@ public class DriveWithInput extends CommandBase {
private final SlewRateLimiter xLimiter, yLimiter, rotLimiter;
/** Creates a new DriveWithInput. */
public DriveWithInput(SwerveDrive swerve, Supplier<Double> xSpeed, Supplier<Double> ySpeed, Supplier<Double> rot, boolean fieldRelative) {
// Use addRequirements() here to declare subsystem dependencies.
this.swerve = swerve;