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undo michal's changes

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This commit is contained in:
Abhishrek05
2024-03-11 15:59:17 -06:00
parent 2dd1fe72e5
commit 5b2893c3e2
2 changed files with 3 additions and 34 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+2 -33
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@@ -26,7 +26,6 @@ import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -36,7 +35,6 @@ import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.controller.DeadbandedXboxController;
public class Intake extends SubsystemBase {
@@ -54,9 +52,6 @@ public class Intake extends SubsystemBase {
private TalonFX talonPivot;
private CANcoder encoder;
private DeadbandedXboxController m_driverXbox;
private DeadbandedXboxController m_operatorXbox;
private boolean r;
private HardwareLimitSwitchConfigs l;
@@ -101,17 +96,14 @@ public class Intake extends SubsystemBase {
// }
//For Talon
public Intake(TalonFX talonIntake, TalonFX talonPivot, DeadbandedXboxController driverXbox, DeadbandedXboxController operatorXbox) {
public Intake(TalonFX talonIntake, TalonFX talonPivot) {
this.talonIntake = talonIntake;
this.talonPivot = talonPivot;
this.m_driverXbox = driverXbox;
this.m_operatorXbox = operatorXbox;
talonIntake.getConfigurator().apply(new TalonFXConfiguration());
talonPivot.getConfigurator().apply(new TalonFXConfiguration());
talonIntake.setNeutralMode(NeutralModeValue.Coast);
talonIntake.setNeutralMode(NeutralModeValue.Brake);
talonPivot.setNeutralMode(NeutralModeValue.Brake);
// talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
@@ -331,8 +323,6 @@ public class Intake extends SubsystemBase {
// }
// }
private int rumbleTime = 0;
@Override
public void periodic() {
// This method will be called once per scheduler run
@@ -346,26 +336,5 @@ public class Intake extends SubsystemBase {
SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// if(getTalonIntakeLimitSwitchState()){
// rumbleTime = 1000;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 1.0);
// // m_hid.setRumble(RumbleType.kLeftRumble, 0.0);
// // m_hid.setRumble(RumbleType.kRightRumble, 0.0);
// }
// if(rumbleTime > 0){
// rumbleTime--;
// if(rumbleTime <= 0){
// rumbleTime = 0;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 0);
// }
// }
}
}