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Remove RobotGyro

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This commit is contained in:
Michael Mikovsky
2025-07-13 19:29:30 -06:00
parent c183c08a3d
commit 99bb538bcb
4 changed files with 15 additions and 286 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -1
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@@ -45,6 +45,8 @@ public class Robot extends LoggedRobot {
*/
@Override
public void robotInit() {
// Start logging with AdvantageKit
startLogging();
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
@@ -221,7 +223,7 @@ public class Robot extends LoggedRobot {
// Record metadata
Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
Logger.recordMetadata("Git+SHA", BuildConstants.GIT_SHA);
Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
switch (BuildConstants.DIRTY) {
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 165;
public static final String GIT_SHA = "bf4da44338d8e91c50e34c3ac68dc12f9d335b08";
public static final String GIT_DATE = "2025-07-11 14:07:53 MDT";
public static final int GIT_REVISION = 166;
public static final String GIT_SHA = "c183c08a3d92ff8561bef96dad52b8dd64d94f14";
public static final String GIT_DATE = "2025-07-11 17:58:22 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-07-11 17:46:28 MDT";
public static final long BUILD_UNIX_TIME = 1752277588371L;
public static final String BUILD_DATE = "2025-07-13 19:23:17 MDT";
public static final long BUILD_UNIX_TIME = 1752456197462L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/DiffDrive.java
+7 -9
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@@ -8,13 +8,13 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.DriveConstants;
import frc4388.utility.RobotGyro;
// import frc4388.utility.RobotGyro;
import frc4388.utility.compute.RobotTime;
import frc4388.utility.status.Status;
import frc4388.utility.status.FaultReporter;
@@ -34,13 +34,13 @@ public class DiffDrive extends SubsystemBase implements Queryable {
private TalonFX m_leftBackMotor;
private TalonFX m_rightBackMotor;
private DifferentialDrive m_driveTrain;
private RobotGyro m_gyro;
private Pigeon2 m_gyro;
/**
* Add your docs here.
*/
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
TalonFX rightBackMotor, DifferentialDrive driveTrain, Pigeon2 gyro) {
FaultReporter.register(this);
@@ -56,8 +56,6 @@ public class DiffDrive extends SubsystemBase implements Queryable {
@Override
public void periodic() {
m_gyro.updatePigeonDeltas();
if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
updateSmartDashboard();
}
@@ -84,9 +82,9 @@ public class DiffDrive extends SubsystemBase implements Queryable {
private void updateSmartDashboard() {
// Examples of the functionality of RobotGyro
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
// SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
// SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
// SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
//SmartDashboard.putData(m_gyro);
}