delete unused code

redshiftrobotics · Feb 24, 2024 · 2c5f12c · 2c5f12c
1 parent 8985324
commit 2c5f12c
Show file tree

Hide file tree

Showing 3 changed files with 2 additions and 25 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@
 import frc.robot.Constants.ArmConstants;
 import frc.robot.subsystems.Arm;
 import frc.robot.commands.Autos;
-import frc.robot.commands.ArmRemoteControl;
 import frc.robot.commands.ArmRotateTo;
 import frc.robot.commands.ChassisRemoteControl;
 import frc.robot.Constants.VisionConstants;
@@ -122,7 +121,6 @@ public void setUpDriveController() {
 
 		drivetrain.removeDefaultCommand();
 
-		ArmRemoteControl armInputs;
 		ChassisDriveInputs inputs;
 		OptionButtonInput preciseModeButton, boostModeButton, fieldRelativeButton;
 
@@ -135,15 +133,6 @@ public void setUpDriveController() {
 					joystick::getTwist, -1,
 					Constants.DriverConstants.DEAD_ZONE);
 
-			armInputs = new ArmRemoteControl(arm,
-					new OptionButtonInput(joystick,11, ActivationMode.HOLD), 
-					new OptionButtonInput(joystick,12, ActivationMode.HOLD), 
-
-					new OptionButtonInput(joystick, 4, ActivationMode.HOLD), 
-					new OptionButtonInput(joystick, 5, ActivationMode.HOLD), 
-					new OptionButtonInput(joystick, 6, ActivationMode.HOLD)
-					);
-
 			preciseModeButton = new OptionButtonInput(joystick, 2, ActivationMode.TOGGLE);
 			boostModeButton = new OptionButtonInput(joystick, 1, ActivationMode.HOLD);
 			fieldRelativeButton = new OptionButtonInput(joystick, 3, ActivationMode.TOGGLE);
@@ -164,16 +153,6 @@ public void setUpDriveController() {
 					xbox::getRightX, -1,
 					Constants.DriverConstants.DEAD_ZONE);
 
-			armInputs = new ArmRemoteControl(arm,
-					new OptionButtonInput(xbox::rightBumper, ActivationMode.HOLD), 
-					new OptionButtonInput(xbox::leftBumper, ActivationMode.HOLD), 
-
-					new OptionButtonInput(xbox::povLeft, ActivationMode.HOLD), 
-					new OptionButtonInput(xbox::povRight, ActivationMode.HOLD), 
-					new OptionButtonInput(xbox::povDown, ActivationMode.HOLD)
-					);
-
-
 			preciseModeButton = new OptionButtonInput(xbox::b, ActivationMode.TOGGLE);
 			boostModeButton = new OptionButtonInput(xbox::leftStick, ActivationMode.HOLD);
 			fieldRelativeButton = new OptionButtonInput(xbox::povUp, ActivationMode.TOGGLE);

diff --git a/src/main/java/frc/robot/commands/AutoRotateTo.java b/src/main/java/frc/robot/commands/AutoRotateTo.java
@@ -46,8 +46,7 @@ public AutoRotateTo(SwerveDrivetrain drivetrain, Rotation2d direction) {
 
 	@Override
 	public void initialize() {
-		currentAngleGoal = relative ? drivetrain.getHeading().getRadians()
-				: 0;
+		currentAngleGoal = relative ? drivetrain.getHeading().getRadians() : 0;
 		currentAngleGoal += angleGoal;
 		SmartDashboard.putNumber("Target Angle Auto", currentAngleGoal);
 	}

diff --git a/src/main/java/frc/robot/commands/FollowTag.java b/src/main/java/frc/robot/commands/FollowTag.java
@@ -52,8 +52,7 @@ public FollowTag(SwerveDrivetrain drivetrain, Vision vision, Transform2d targetD
 	 * 
 	 * @param drivetrain          the drivetrain of the robot
 	 * @param vision              the vision subsystem of the robot
-	 * @param tagID               the numerical ID of the the tag to follow, null
-	 *                            for whatever best is
+	 * @param tagID               the numerical ID of the the tag to follow, null for whatever best is
 	 * @param targetDistanceToTag the target distance away from the tag to be
 	 * @param loseTagAfterSeconds how long to wait before giving up on rediscover
 	 *                            tag, set to null to never finish