Team4388/2023WayOfTheRobot
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import cleanup

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This commit is contained in:
aarav18
2023-03-16 23:13:10 -06:00
parent 45b2bada8b
commit f93047dc4a
11 changed files with 0 additions and 53 deletions
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src/main/java/frc4388/robot/Constants.java
-2
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@@ -7,8 +7,6 @@
package frc4388.robot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
src/main/java/frc4388/robot/Robot.java
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@@ -7,20 +7,6 @@
package frc4388.robot;
import java.lang.System;
import java.lang.reflect.Array;
import java.util.Arrays;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.can.MotControllerJNI;
import java.io.File;
import java.io.IOException;
import java.io.PrintWriter;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
@@ -28,10 +14,6 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.DeferredBlock;
import frc4388.utility.RobotTime;
import frc4388.robot.subsystems.Location;
import frc4388.robot.subsystems.Apriltags.Tag;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
src/main/java/frc4388/robot/RobotContainer.java
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@@ -8,9 +8,7 @@
package frc4388.robot;
import java.util.function.Consumer;
import java.util.function.UnaryOperator;
import edu.wpi.first.wpilibj.event.EventLoop;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
@@ -30,8 +28,6 @@ import frc4388.robot.commands.Autos.AutoBalance;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Placement.DriveToLimeDistance;
import frc4388.robot.commands.Placement.LimeAlign;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Swerve.RotateToAngle;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
src/main/java/frc4388/robot/commands/Placement/DriveToLimeDistance.java
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@@ -7,8 +7,6 @@ package frc4388.robot.commands.Placement;
import java.util.function.DoubleSupplier;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.RobotContainer;
import frc4388.robot.commands.PelvicInflammatoryDisease;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
src/main/java/frc4388/robot/subsystems/Arm.java
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@@ -1,28 +1,20 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import frc4388.robot.Constants.ArmConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.DeferredBlock;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends SubsystemBase {
private WPI_TalonFX m_tele;
public WPI_TalonFX m_pivot;
private CANCoder m_pivotEncoder;
private boolean m_debug;
// Moves arm to distance [dist] then returns new ang
public Arm(WPI_TalonFX pivot, WPI_TalonFX tele, CANCoder encoder, boolean debug) {
@@ -140,7 +132,6 @@ public class Arm extends SubsystemBase {
@Override
public void periodic() {
double degrees = Math.abs(m_pivotEncoder.getAbsolutePosition() - 135);
if (m_tele.isFwdLimitSwitchClosed() == 1 && tele_reset) {
var tele_soft = m_tele.getSelectedSensorPosition();
src/main/java/frc4388/robot/subsystems/Claw.java
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@@ -1,12 +1,10 @@
package frc4388.robot.subsystems;
import edu.wpi.first.hal.PWMJNI;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Claw extends SubsystemBase {
private PWM m_clawMotor;
private boolean m_open = false;
private boolean m_disabled = false;
// Opens claw
public Claw(PWM m_clawMotor) {
src/main/java/frc4388/robot/subsystems/Limelight.java
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@@ -5,19 +5,15 @@
package frc4388.robot.subsystems;
import java.util.ArrayList;
import java.util.List;
import org.opencv.core.Point;
import org.photonvision.PhotonCamera;
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.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.VisionConstants;
import frc4388.utility.AbhiIsADumbass;
public class Limelight extends SubsystemBase {
private PhotonCamera cam;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
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@@ -4,16 +4,12 @@
package frc4388.robot.subsystems;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
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.util.Units;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
src/main/java/frc4388/robot/subsystems/Vision.java
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@@ -3,7 +3,6 @@ package frc4388.robot.subsystems;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;