From fcc9d3bdda3f833a7decad626e7ad904d8ac3268 Mon Sep 17 00:00:00 2001
From: Aarav Shah <aaravshah18@gmail.com>
Date: Mon, 27 Feb 2023 18:25:14 -0700
Subject: [PATCH] Delete DriveWithInput.java

---
 .../robot/commands/DriveWithInput.java        | 75 -------------------
 1 file changed, 75 deletions(-)
 delete mode 100644 src/main/java/frc4388/robot/commands/DriveWithInput.java

diff --git a/src/main/java/frc4388/robot/commands/DriveWithInput.java b/src/main/java/frc4388/robot/commands/DriveWithInput.java
deleted file mode 100644
index 3b4d638..0000000
--- a/src/main/java/frc4388/robot/commands/DriveWithInput.java
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc4388.robot.commands;
-
-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 frc4388.robot.Constants.SwerveDriveConstants;
-import frc4388.robot.subsystems.SwerveDrive;
-
-public class DriveWithInput extends CommandBase {
-
-  private final SwerveDrive swerve;
-
-  private final Supplier<Double> xSpeed;
-  private final Supplier<Double> ySpeed;
-  private final Supplier<Double> rot;
-  private final boolean fieldRelative;
-
-  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;
-    this.xSpeed = xSpeed;
-    this.ySpeed = ySpeed;
-    this.rot = rot;
-    this.fieldRelative = fieldRelative;
-
-    this.xLimiter = new SlewRateLimiter(3);
-    this.yLimiter = new SlewRateLimiter(3);
-    this.rotLimiter = new SlewRateLimiter(3);
-
-    addRequirements(swerve);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    double x = xSpeed.get();
-    double y = ySpeed.get();
-    double r = rot.get();
-
-    x = -xLimiter.calculate(MathUtil.applyDeadband(x * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    y = -yLimiter.calculate(MathUtil.applyDeadband(y * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
-    r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(5*Math.PI));
-  
-    swerve.drive(x, y, r, fieldRelative);
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    System.out.println("----------------------------------------------------------------");
-    System.out.println("DriveWithInput ended");
-    System.out.println("Interrupted: " + interrupted);
-    System.out.println("----------------------------------------------------------------");
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}