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Code clean up, compleatly remove phoenix5

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This commit is contained in:
C4llSiqn
2024-10-26 11:39:50 -06:00
parent eaf60aa475
commit c27f2a7c6a
11 changed files with 30 additions and 290 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+2 -13
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@@ -4,16 +4,6 @@
package frc4388.robot.subsystems;
// import javax.swing.text.StyleContext.SmallAttributeSet;
// import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
// import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
// 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.SensorInitializationStrategy;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
@@ -43,7 +33,6 @@ import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
// import frc4388.utility.configurable.ConfigurableDouble;
public class SwerveModule extends SubsystemBase {
private TalonFX driveMotor;
@@ -76,9 +65,9 @@ public class SwerveModule extends SubsystemBase {
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
).withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(110)
.withStatorCurrentLimit(100)
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(110)
.withSupplyCurrentLimit(100)
.withSupplyCurrentLimitEnable(true)
);