From 009443b0446a594674d7af2e39b5d1477c321979 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Thu, 30 Jan 2020 23:21:35 -0700 Subject: [PATCH] Minor Code Cleanup --- src/main/java/frc4388/robot/subsystems/Drive.java | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index e1dd0ee..e4f61e1 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -77,9 +77,10 @@ public class Drive extends SubsystemBase { m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout - /*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source + + /*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] - DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout + DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout /* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */ m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source @@ -113,10 +114,6 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS); - - /*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1, - DriveConstants.PID_TURN, - DriveConstants.DRIVE_TIMEOUT_MS);*/ /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, @@ -342,8 +339,6 @@ public class Drive extends SubsystemBase { double[] ypr = new double[3]; m_pigeon.getYawPitchRoll(ypr); return ypr[0]; - //m_pigeon.(ypr); - //return ypr[0]; } public double getGyroPitch() {