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Commit 3b43662

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mimizh2418mimizh2418
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chore: cleanup
1 parent 5e276e2 commit 3b43662

17 files changed

+21
-113
lines changed

‎src/main/java/org/team1540/robot2024/Robot.java‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,6 @@
44
import com.pathplanner.lib.commands.FollowPathCommand;
55
import com.pathplanner.lib.commands.PathfindingCommand;
66
import edu.wpi.first.math.geometry.Rotation2d;
7-
import edu.wpi.first.wpilibj.DigitalInput;
87
import edu.wpi.first.wpilibj.DriverStation;
98
import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,7 +19,6 @@
2019
import org.team1540.robot2024.util.MechanismVisualiser;
2120
import org.team1540.robot2024.util.auto.AutoManager;
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import org.team1540.robot2024.util.vision.AprilTagsCrescendo;
23-
import org.team1540.robot2024.util.vision.LimelightHelpers;
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2523
/**
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* The VM is configured to automatically run this class, and to call the functions corresponding to

‎src/main/java/org/team1540/robot2024/RobotContainer.java‎

Lines changed: 1 addition & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,7 @@
11
package org.team1540.robot2024;
22

3-
import com.ctre.phoenix6.Utils;
43
import com.pathplanner.lib.auto.NamedCommands;
54
import edu.wpi.first.math.geometry.*;
6-
import edu.wpi.first.math.util.Units;
75
import edu.wpi.first.wpilibj.DriverStation;
86
import edu.wpi.first.wpilibj2.command.Command;
97
import edu.wpi.first.wpilibj2.command.Commands;
@@ -16,7 +14,6 @@
1614
import org.team1540.robot2024.commands.climb.ClimbAlignment;
1715
import org.team1540.robot2024.commands.drivetrain.*;
1816
import org.team1540.robot2024.commands.elevator.ElevatorManualCommand;
19-
import org.team1540.robot2024.commands.elevator.ElevatorSetpointCommand;
2017
import org.team1540.robot2024.commands.indexer.ContinuousIntakeCommand;
2118
import org.team1540.robot2024.commands.indexer.IntakeAndFeed;
2219
import org.team1540.robot2024.commands.indexer.StageTrampCommand;
@@ -123,16 +120,6 @@ public RobotContainer() {
123120
configureAutoRoutines();
124121
// Configure the button bindings
125122
configureButtonBindings();
126-
configureLedBindings();
127-
}
128-
129-
private void configureLedBindings() {
130-
// Runnable onDisconnect = () -> leds.setPatternAll(LedPatternFlame::new, Leds.PatternCriticality.HIGH);
131-
// onDisconnect.run();
132-
// new Trigger(DriverStation::isDSAttached)
133-
// .onTrue(Commands.runOnce(() -> leds.clearPatternAll(Leds.PatternCriticality.HIGH))
134-
// .ignoringDisable(true))
135-
// .onFalse(Commands.runOnce(onDisconnect).ignoringDisable(true));
136123
}
137124

138125
private void configureButtonBindings() {
@@ -146,9 +133,6 @@ private void configureButtonBindings() {
146133
enableBrakeMode(false);
147134
}).ignoringDisable(true));
148135

149-
//TODO remove
150-
// driver.back().and(driver.start()).onTrue(Commands.runOnce(() -> drivetrain.setPose(new Pose2d())));
151-
152136
Command targetDrive = new AutoShootPrepareWithTargeting(driver.getHID(), drivetrain, shooter)
153137
.alongWith(leds.commandShowPattern(
154138
new LedPatternProgressBar(shooter::getSpinUpPercent, "#00a9ff", 33),
@@ -247,7 +231,7 @@ private void configureButtonBindings() {
247231
)
248232
);
249233

250-
copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder).andThen(Commands.print("BACK IS PRESSED")));
234+
copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder));
251235

252236
copilot.leftBumper().whileTrue(new AmpScoreSequence(tramp, indexer, elevator));
253237
Command intakeCommand = new ContinuousIntakeCommand(indexer, 1)

‎src/main/java/org/team1540/robot2024/commands/autos/testAuto.java‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -45,8 +45,7 @@ public testAuto(Drivetrain drivetrain, Shooter shooter, Indexer indexer) {
4545
),
4646
new Triplet<>(0, ()->true, Commands::none),
4747
new Triplet<>(1, ()->false, Commands::none)
48-
),
49-
Commands.print("HALLELUJAH")
48+
)
5049

5150
//,
5251
//

‎src/main/java/org/team1540/robot2024/commands/climb/ClimbSequence.java‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,6 @@
88
import org.team1540.robot2024.subsystems.drive.Drivetrain;
99
import org.team1540.robot2024.subsystems.elevator.Elevator;
1010
import org.team1540.robot2024.subsystems.indexer.Indexer;
11-
import org.team1540.robot2024.subsystems.shooter.Shooter;
1211
import org.team1540.robot2024.subsystems.tramp.Tramp;
1312

1413
public class ClimbSequence extends ParallelRaceGroup {
@@ -21,7 +20,7 @@ public ClimbSequence(Drivetrain drivetrain, Elevator elevator, Tramp tramp, Inde
2120
Commands.waitUntil(controller.a()),
2221
new ElevatorSetpointCommand(elevator, ElevatorState.TOP),
2322
Commands.waitSeconds(5), // Confirm that nothing will break. Also might need to be tuned if chain does weird things
24-
Commands.startEnd(()->elevator.setVoltage(-10), elevator::holdPosition, elevator).until(elevator::getLowerLimit)
23+
Commands.startEnd(()->elevator.setPercent(-0.8), elevator::holdPosition, elevator).until(elevator::getLowerLimit)
2524
)
2625
);
2726
}

‎src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand.java‎

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Original file line numberDiff line numberDiff line change
@@ -71,7 +71,6 @@ public void execute() {
7171
drivetrain.getPose().getTranslation(),
7272
linearDirection
7373
));
74-
// System.out.println("I am driving woth correxction 1");
7574

7675
double rotPercent = target == null
7776
? JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1)

‎src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand2.java‎

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ public class DriveWithCorrectionCommand2 extends Command {
2525

2626
private boolean isFlipped;
2727

28-
2928
private final LoggedTunableNumber kP = new LoggedTunableNumber("Targeting/COR_KP", 0.9);
3029
private final LoggedTunableNumber kI = new LoggedTunableNumber("Targeting/COR_KI", 0);
3130
private final LoggedTunableNumber kD = new LoggedTunableNumber("Targeting/COR_KD", 0);
@@ -84,19 +83,16 @@ public void execute() {
8483
Rotation2d linearDirection = new Rotation2d(xPercent, yPercent);
8584

8685
// if(drivetrain.getRotation().rotateBy(Rotation2d.fromDegrees(angleDegrees.get())).getCos() * xPercent > 0){
87-
linearDirection = linearDirection.minus(Rotation2d.fromDegrees(correctionController.calculate(angleDegrees.get(), 0)));
86+
linearDirection = linearDirection.minus(Rotation2d.fromDegrees(correctionController.calculate(angleDegrees.get(), 0)));
8887
// }
8988

90-
System.out.println("I am correctiong 1");
9189
Logger.recordOutput("Targeting/targetDirection", new Pose2d(
9290
drivetrain.getPose().getTranslation(),
9391
linearDirection.rotateBy(Rotation2d.fromDegrees(180))
9492
));
9593
Logger.recordOutput("Targeting/angle", angleDegrees.get());
9694
Logger.recordOutput("Targeting/target", Constants.Targeting.getSpeakerPose());
9795

98-
System.out.println();
99-
10096
double rotPercent = target == null
10197
? JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1)
10298
: rotController.calculate(drivetrain.getRotation().getRadians(), targetRot.getRadians());;

‎src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,6 @@
22

33
import edu.wpi.first.wpilibj2.command.Command;
44
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
5-
import org.team1540.robot2024.Constants;
65
import org.team1540.robot2024.subsystems.elevator.Elevator;
76

87
public class ElevatorManualCommand extends Command {
@@ -25,7 +24,7 @@ public void execute() {
2524
} else {
2625
val -= DEADZONE;
2726
}
28-
elevator.setVoltage(-val * 12 * 0.18);
27+
elevator.setPercent(-val * 2.16);
2928
} else {
3029
elevator.holdPosition();
3130
}

‎src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepareWithLeadTargeting.java‎

Lines changed: 0 additions & 41 deletions
This file was deleted.

‎src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java‎

Lines changed: 0 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -64,13 +64,6 @@ public class Drivetrain extends SubsystemBase {
6464

6565
private Pose2d targetPose = new Pose2d();
6666

67-
private final LoggedTunableNumber mkP = new LoggedTunableNumber("Drivetrain/M_KP", 5.0);
68-
private final LoggedTunableNumber mkI = new LoggedTunableNumber("Drivetrain/M_KI", 0.0);
69-
private final LoggedTunableNumber mkD = new LoggedTunableNumber("Drivetrain/M_KD", 0.0);
70-
private final LoggedTunableNumber rkP = new LoggedTunableNumber("Drivetrain/R_KP", 7.0);
71-
private final LoggedTunableNumber rkI = new LoggedTunableNumber("Drivetrain/R_KI", 0.0);
72-
private final LoggedTunableNumber rkD = new LoggedTunableNumber("Drivetrain/R_KD", 0.0);
73-
7467
private Drivetrain(
7568
GyroIO gyroIO,
7669
ModuleIO flModuleIO,
@@ -199,21 +192,6 @@ public void periodic() {
199192
// Update odometry
200193
poseEstimator.update(rawGyroRotation, getModulePositions());
201194
visionPoseEstimator.update(rawGyroRotation, getModulePositions());
202-
203-
204-
205-
//FIXME: Could be a bad idea
206-
// if(mkP.hasChanged(hashCode()) || mkI.hasChanged(hashCode()) || mkD.hasChanged(hashCode())
207-
// || rkP.hasChanged(hashCode()) || rkI.hasChanged(hashCode()) || rkD.hasChanged(hashCode())){
208-
// AutoBuilder.configureHolonomic(
209-
// this::getPose,
210-
// this::setPose,
211-
// () -> kinematics.toChassisSpeeds(getModuleStates()),
212-
// this::runVelocity,
213-
// new HolonomicPathFollowerConfig(new PIDConstants(mkP.get(), mkI.get(), mkD.get()),new PIDConstants(rkP.get(), rkI.get(), rkD.get()),MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
214-
// () -> DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red,
215-
// this);
216-
// }
217195
}
218196

219197
/**

‎src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -88,12 +88,12 @@ public boolean isAtSetpoint() {
8888
return MathUtil.isNear(setpointMeters, positionFilter.getAverage(), POS_ERR_TOLERANCE_METERS) || (inputs.atLowerLimit && setpointMeters <= 0);
8989
}
9090

91-
public void setVoltage(double voltage) {
92-
io.setVoltage(voltage);
91+
public void setPercent(double percent) {
92+
io.setDutyCycle(percent);
9393
}
9494

9595
public void stop() {
96-
io.setVoltage(0.0);
96+
io.setDutyCycle(0.0);
9797
}
9898

9999
@AutoLogOutput(key = "Elevator/setpoint")

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