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Remove unused imports

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This commit is contained in:
Michael Mikovsky
2026-02-12 14:36:26 -07:00
parent 3e701df6fa
commit 0425cdd0a1
20 changed files with 5 additions and 97 deletions
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src/main/java/frc4388/robot/Robot.java
-4
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@@ -15,7 +15,6 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.constants.BuildConstants;
@@ -70,9 +69,6 @@ public class Robot extends LoggedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
// SmartDashboard.putNumber("Time", System.currentTimeMillis());
m_robotContainer.m_robotLED.update();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
src/main/java/frc4388/robot/RobotContainer.java
+1 -11
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@@ -9,7 +9,6 @@ package frc4388.robot;
import java.io.File;
import com.ctre.phoenix.CANifier.LEDChannel;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -24,20 +23,17 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -47,7 +43,6 @@ import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -68,12 +63,7 @@ public class RobotContainer {
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
// public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
src/main/java/frc4388/robot/constants/Constants.java
-2
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@@ -9,8 +9,6 @@ package frc4388.robot.constants;
import com.ctre.phoenix6.CANBus;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Rotation3d;
src/main/java/frc4388/robot/constants/FieldConstants.java
-1
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@@ -4,7 +4,6 @@ import java.util.Arrays;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation2d;
src/main/java/frc4388/robot/subsystems/LED.java
+4 -8
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@@ -7,11 +7,12 @@
package frc4388.robot.subsystems;
import java.util.concurrent.TimeUnit;
import org.littletonrobotics.junction.AutoLogOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.Constants.LEDConstants;
import frc4388.utility.status.Status;
@@ -43,20 +44,15 @@ public class LED extends SubsystemBase implements Queryable {
public void setMode(LEDPatterns pattern){
// Don't stall the main thread every time the setMode function is called
if(this.mode != pattern) {
this.mode = pattern;
setTo5V();
}
this.mode = pattern;
}
public String getMode(){
return mode.name();
}
@Override
public void periodic() {
update();
}
public void update() {
if(DriverStation.isDisabled()){
m_pwm.setSpeed(LEDConstants.DEFAULT_PATTERN.getValue());
@@ -74,7 +70,7 @@ public class LED extends SubsystemBase implements Queryable {
public void setTo5V() {
try {
m_pwm.setPulseTimeMicroseconds(2125);
Thread.sleep(1);
TimeUnit.MICROSECONDS.sleep(2125*2);// Wait long enough for one pulse to go through
update();
} catch (InterruptedException e) {}
}
src/main/java/frc4388/robot/subsystems/TestRobot.java
-1
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@@ -11,7 +11,6 @@ import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.configurable.ConfigurableDouble;
src/main/java/frc4388/robot/subsystems/climber/Climber.java
-4
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@@ -1,11 +1,7 @@
package frc4388.robot.subsystems.climber;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Climber extends SubsystemBase {
src/main/java/frc4388/robot/subsystems/climber/ClimberConstants.java
-7
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@@ -1,20 +1,13 @@
package frc4388.robot.subsystems.climber;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Distance;
import frc4388.utility.status.CanDevice;
public class ClimberConstants {
// Motor conversions
src/main/java/frc4388/robot/subsystems/climber/ClimberIO.java
-7
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@@ -1,19 +1,12 @@
package frc4388.robot.subsystems.climber;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Inches;
import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.CurrentUnit;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
public interface ClimberIO {
@AutoLog
src/main/java/frc4388/robot/subsystems/climber/ClimberReal.java
-9
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@@ -1,20 +1,11 @@
package frc4388.robot.subsystems.climber;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.utility.configurable.ConfigurableDouble;
public class ClimberReal implements ClimberIO {
src/main/java/frc4388/robot/subsystems/intake/Intake.java
-5
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@@ -1,18 +1,13 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.status.FaultReporter;
public class Intake extends SubsystemBase {
public IntakeIO io;
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
-6
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@@ -1,17 +1,11 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
-3
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@@ -1,17 +1,14 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.CurrentUnit;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.LinearVelocity;
public interface IntakeIO {
@AutoLog
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
-8
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@@ -1,18 +1,10 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.configurable.ConfigurableDouble;
public class IntakeReal implements IntakeIO {
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
-3
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@@ -2,13 +2,10 @@ package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.text.FieldPosition;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.Constants;
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
-5
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@@ -1,16 +1,11 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
-5
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@@ -1,17 +1,12 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.CurrentUnit;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.LinearVelocity;
public interface ShooterIO {
@AutoLog
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
-6
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@@ -1,15 +1,9 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.InchesPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.utility.configurable.ConfigurableDouble;
public class ShooterReal implements ShooterIO {
src/main/java/frc4388/utility/status/Alerts.java
-1
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@@ -2,7 +2,6 @@ package frc4388.utility.status;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import frc4388.robot.RobotContainer;
// Class to update a series of WPILIB Alerts
public class Alerts {
src/main/java/frc4388/utility/status/FaultReporter.java
-1
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@@ -3,7 +3,6 @@ package frc4388.utility.status;
import java.util.ArrayList;
import java.util.List;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.CANBus.CANBusStatus;
import frc4388.robot.constants.Constants;