Remove unused imports

src/main/java/frc4388/robot/Robot.java

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;