From 3e829b4db8e2b13ce0cd94bda172ed84b1b7829b Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Tue, 25 Feb 2020 21:12:02 -0700 Subject: [PATCH] Remove extraneous code --- src/main/java/frc4388/robot/RobotContainer.java | 6 +----- src/main/java/frc4388/robot/subsystems/Drive.java | 9 ++++----- 2 files changed, 5 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f46ff66..f57b496 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -123,13 +123,9 @@ public class RobotContainer { new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive)); - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whileHeld(new InstantCommand(() -> m_robotDrive.driveWithInput(0, 0), m_robotDrive)); - - /* Operator Buttons */ - //TODO: Shooter Buttons + //TODO: Shooter Buttons // shoots until released //new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON) // .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5)); diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 74b9ef9..0dae7c8 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -71,7 +71,6 @@ public class Drive extends SubsystemBase { public double m_rightFrontMotorVel; public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor); - //public RobotDrive m_driveTrain2 = new RobotDrive(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor) SendableChooser m_chooser = new SendableChooser(); public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS; @@ -112,8 +111,8 @@ public class Drive extends SubsystemBase { coolFalcon(false); /* set back motors as followers */ - //m_leftBackMotor.follow(m_leftFrontMotor); - //m_rightBackMotor.follow(m_rightFrontMotor); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); /* flip input so forward becomes back, etc */ m_leftFrontMotor.setInverted(false); @@ -410,8 +409,8 @@ public class Drive extends SubsystemBase { */ public void driveWithInput(double move, double steer) { m_driveTrain.arcadeDrive(move, steer); - m_leftBackMotor.follow(m_leftFrontMotor, FollowerType.PercentOutput); - m_rightBackMotor.follow(m_rightFrontMotor, FollowerType.PercentOutput); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); } /**