From 904a2f26880a89d1535d077c33f5755110918388 Mon Sep 17 00:00:00 2001
From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com>
Date: Tue, 20 Feb 2024 19:58:04 -0700
Subject: [PATCH] fixes

---
 src/main/java/frc4388/robot/RobotContainer.java     |  3 +--
 src/main/java/frc4388/robot/subsystems/Shooter.java | 13 +++----------
 .../utility/Configurable/ConfigurableDouble.java    |  2 +-
 .../utility/configurable/ConfigurableDouble.java    |  2 +-
 4 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index bb321d4..4e11195 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -57,7 +57,7 @@ public class RobotContainer {
     /* Limelight */
     private final Limelight limelight = new Limelight();
 
-    private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
+    private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
 
     private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
 
@@ -73,7 +73,6 @@ public class RobotContainer {
     private final VirtualController m_virtualDriver = new VirtualController(0);
     private final VirtualController m_virtualOperator = new VirtualController(1);
 
-    private Limelight limelight = new Limelight();
     private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
 
     private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index c14d779..d3100a2 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -22,13 +22,13 @@ public class Shooter extends SubsystemBase {
   private TalonFX leftShooter;
   private TalonFX rightShooter;
 
+  private double smartDashboardShooterSpeed;
+
   /** Creates a new Shooter. */
-  public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX, Limelight limelight) {
+  public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX) {
     leftShooter  = leftTalonFX;
     rightShooter = rightTalonFX;
 
-    this.limelight = limelight;
-
     leftShooter.setNeutralMode(NeutralModeValue.Coast);
     rightShooter.setNeutralMode(NeutralModeValue.Coast);
     SmartDashboard.putNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
@@ -63,18 +63,11 @@ public class Shooter extends SubsystemBase {
   }
 
   public void stop() {
-    shooterMode = 0;
     spin(0.d);
   }
 
   public void idle() {
-    if(limelight.isNearSpeaker()){
-      shooterMode = 2;
-      spin(ShooterConstants.SHOOTER_IDLE_LIMELIGHT);
-    }else{
-      shooterMode = 1;
       spin(ShooterConstants.SHOOTER_IDLE);
-    }
   }
 
   @Override
diff --git a/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
index c0384db..fe15818 100644
--- a/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
+++ b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
@@ -1,4 +1,4 @@
-package frc4388.utility.configurable;
+package frc4388.utility.Configurable;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
diff --git a/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java
index c0384db..fe15818 100644
--- a/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java
+++ b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java
@@ -1,4 +1,4 @@
-package frc4388.utility.configurable;
+package frc4388.utility.Configurable;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;