Nuke the drive subsystem

src/main/java/frc4388/robot/Constants.java

@@ -18,16 +18,6 @@ import frc4388.utility.LEDPatterns;
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final class DriveConstants {
-        public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
-        public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
-	    public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
-        public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
-        
-        public static final int DRIVE_PIGEON_ID = 6;
-
-        public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
-    }
 
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;

src/main/java/frc4388/robot/RobotContainer.java

@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
-import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -31,9 +30,6 @@ public class RobotContainer {
     private final RobotMap m_robotMap = new RobotMap();
 
     /* Subsystems */
-    private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
-            m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
-
     private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
     /* Controllers */
@@ -48,9 +44,6 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(
-                new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
-                        getDriverController().getRightXAxis()), m_robotDrive));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }
@@ -64,8 +57,6 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Driver Buttons */
         // test command to spin the robot while pressing A on the driver controller
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-                .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
 
         /* Operator Buttons */
         // activates "Lit Mode"

src/main/java/frc4388/robot/RobotMap.java

@@ -36,36 +36,5 @@ public class RobotMap {
         
     }
 
-    /* Drive Subsystem */
-    public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
-    public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
-    public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
-    public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
-    public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
-    public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
-
     void configureDriveMotorControllers() {
-
-        /* factory default values */
-        leftFrontMotor.configFactoryDefault();
-        rightFrontMotor.configFactoryDefault();
-        leftBackMotor.configFactoryDefault();
-        rightBackMotor.configFactoryDefault();
-
-        /* set back motors as followers */
-        leftBackMotor.follow(leftFrontMotor);
-        rightBackMotor.follow(rightFrontMotor);
-
-        /* set neutral mode */
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
-        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
-
-        /* flip input so forward becomes back, etc */
-        leftFrontMotor.setInverted(false);
-        rightFrontMotor.setInverted(false);
-        leftBackMotor.setInverted(InvertType.FollowMaster);
-        rightBackMotor.setInverted(InvertType.FollowMaster);
-    }
 }

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -1,85 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.robot.subsystems;
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
-
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import frc4388.robot.Constants.DriveConstants;
-import frc4388.utility.RobotGyro;
-import frc4388.utility.RobotTime;
-
-/**
- * Add your docs here.
- */
-public class Drive extends SubsystemBase {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
-
-  private RobotTime m_robotTime = RobotTime.getInstance();
-
-  private WPI_TalonFX m_leftFrontMotor;
-  private WPI_TalonFX m_rightFrontMotor;
-  private WPI_TalonFX m_leftBackMotor;
-  private WPI_TalonFX m_rightBackMotor;
-  private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro;
-
-  /**
-   * Add your docs here.
-   */
-  public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
-      WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
-
-    m_leftFrontMotor = leftFrontMotor;
-    m_rightFrontMotor = rightFrontMotor;
-    m_leftBackMotor = leftBackMotor;
-    m_rightBackMotor = rightBackMotor;
-    m_driveTrain = driveTrain;
-    m_gyro = gyro;
-  }
-
-  @Override
-  public void periodic() {
-    m_gyro.updatePigeonDeltas();
-
-    if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
-      updateSmartDashboard();
-    }
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void driveWithInput(double move, double steer) {
-    m_driveTrain.arcadeDrive(move, steer);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  public void tankDriveWithInput(double leftMove, double rightMove) {
-    m_leftFrontMotor.set(leftMove);
-    m_rightFrontMotor.set(rightMove);
-  }
-
-  /**
-   * Add your docs here.
-   */
-  private void updateSmartDashboard() {
-
-    // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
-    SmartDashboard.putData(m_gyro);
-  }
-}