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Remove uneeded imports and static declarations in Drive

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This commit is contained in:
Keenan D. Buckley
2020-01-17 17:30:04 -07:00
parent b22386e592
commit 5adb675ef4
1 changed files with 6 additions and 15 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+6 -15
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@@ -7,26 +7,17 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.sensors.PigeonIMU;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.utility.controller.XboxController;
import frc4388.robot.Gains;
/**
* Add your docs here.
@@ -35,13 +26,13 @@ public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public static WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public static WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public static WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public static WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public static Gains m_gains = DriveConstants.DRIVE_GAINS;