From 4666c6f8179e9ca0f62a178cc50b45c896bf7116 Mon Sep 17 00:00:00 2001 From: Keobkeig Date: Tue, 19 Mar 2024 16:36:03 -0400 Subject: [PATCH] Remove shooter stop where unwanted, cleaned up code imports --- src/main/java/com/stuypulse/robot/Robot.java | 1 - src/main/java/com/stuypulse/robot/RobotContainer.java | 4 ---- .../java/com/stuypulse/robot/commands/AmpScoreRoutine.java | 2 -- .../stuypulse/robot/commands/auton/CBADE/FourPieceCBA.java | 1 - .../robot/commands/auton/FollowPathAlignAndShoot.java | 2 -- .../commands/auton/FollowPathTrackingAlignAndShoot.java | 5 ----- .../com/stuypulse/robot/commands/auton/HGF/FourPieceHGF.java | 1 - .../stuypulse/robot/commands/swerve/SwerveDriveDrive.java | 1 - 8 files changed, 17 deletions(-) diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java index 1a1df8a6..c007e693 100644 --- a/src/main/java/com/stuypulse/robot/Robot.java +++ b/src/main/java/com/stuypulse/robot/Robot.java @@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java index 492807bf..8a7c8333 100644 --- a/src/main/java/com/stuypulse/robot/RobotContainer.java +++ b/src/main/java/com/stuypulse/robot/RobotContainer.java @@ -37,13 +37,11 @@ import com.stuypulse.robot.subsystems.conveyor.Conveyor; import com.stuypulse.robot.subsystems.intake.Intake; import com.stuypulse.robot.subsystems.leds.LEDController; -import com.stuypulse.robot.subsystems.leds.instructions.LEDPulseColor; import com.stuypulse.robot.subsystems.odometry.Odometry; import com.stuypulse.robot.subsystems.shooter.Shooter; import com.stuypulse.robot.subsystems.swerve.SwerveDrive; import com.stuypulse.robot.subsystems.vision.AprilTagVision; import com.stuypulse.robot.subsystems.vision.NoteVision; -import com.stuypulse.robot.util.SLColor; import com.stuypulse.robot.util.ShooterSpeeds; import com.stuypulse.robot.util.PathUtil.AutonConfig; @@ -142,7 +140,6 @@ private void configureDriverBindings() { .withTimeout(1.5)) .andThen(new ConveyorShoot())) .onFalse(new ConveyorStop()) - // .onFalse(new ShooterStop()) .onFalse(new IntakeStop()); // note to amper and align then score @@ -158,7 +155,6 @@ private void configureDriverBindings() { .withTimeout(1.5) .andThen(new ConveyorShoot())) .onFalse(new ConveyorStop()) - // .onFalse(new ShooterStop()) .onFalse(new IntakeStop()); // score amp no align diff --git a/src/main/java/com/stuypulse/robot/commands/AmpScoreRoutine.java b/src/main/java/com/stuypulse/robot/commands/AmpScoreRoutine.java index d49057ee..fcea0cd4 100644 --- a/src/main/java/com/stuypulse/robot/commands/AmpScoreRoutine.java +++ b/src/main/java/com/stuypulse/robot/commands/AmpScoreRoutine.java @@ -14,7 +14,6 @@ import com.stuypulse.robot.commands.swerve.SwerveDriveDriveDirection; import com.stuypulse.robot.commands.swerve.SwerveDriveToPose; import com.stuypulse.robot.commands.vision.VisionChangeWhiteList; -import com.stuypulse.robot.commands.vision.VisionReloadWhiteList; import com.stuypulse.robot.constants.Field; import com.stuypulse.robot.constants.LEDInstructions; import com.stuypulse.robot.constants.Settings; @@ -24,7 +23,6 @@ import com.stuypulse.robot.subsystems.odometry.Odometry; import com.stuypulse.robot.subsystems.vision.AprilTagVision; import com.stuypulse.stuylib.math.Vector2D; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; diff --git a/src/main/java/com/stuypulse/robot/commands/auton/CBADE/FourPieceCBA.java b/src/main/java/com/stuypulse/robot/commands/auton/CBADE/FourPieceCBA.java index 6bcba85a..9bd90846 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/CBADE/FourPieceCBA.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/CBADE/FourPieceCBA.java @@ -4,7 +4,6 @@ import com.stuypulse.robot.commands.auton.FollowPathAndIntake; import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine; import com.stuypulse.robot.commands.shooter.ShooterPodiumShot; -import com.stuypulse.robot.commands.shooter.ShooterStop; import com.stuypulse.robot.commands.swerve.SwerveDriveToPose; import com.stuypulse.robot.commands.swerve.SwerveDriveToShoot; import com.stuypulse.robot.constants.Settings.Auton; diff --git a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAlignAndShoot.java b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAlignAndShoot.java index 8549a094..d7a07d2e 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAlignAndShoot.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathAlignAndShoot.java @@ -6,7 +6,6 @@ import com.stuypulse.robot.commands.conveyor.ConveyorStop; import com.stuypulse.robot.commands.intake.IntakeStop; import com.stuypulse.robot.commands.shooter.ShooterPodiumShot; -import com.stuypulse.robot.commands.shooter.ShooterStop; import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; import com.stuypulse.robot.constants.Settings; import com.stuypulse.robot.constants.Settings.Auton; @@ -40,7 +39,6 @@ public FollowPathAlignAndShoot(PathPlannerPath path, Command alignCommand) { // .withTimeout(Settings.Conveyor.SHOOT_WAIT_DELAY.get()), new ConveyorStop(), new IntakeStop() - // new ShooterStop() ); } diff --git a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAlignAndShoot.java b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAlignAndShoot.java index 9952d2b7..ea3d7a36 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAlignAndShoot.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/FollowPathTrackingAlignAndShoot.java @@ -2,11 +2,9 @@ import com.pathplanner.lib.path.PathPlannerPath; import com.stuypulse.robot.commands.conveyor.ConveyorShoot; -import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine; import com.stuypulse.robot.commands.conveyor.ConveyorStop; import com.stuypulse.robot.commands.intake.IntakeStop; import com.stuypulse.robot.commands.shooter.ShooterPodiumShot; -import com.stuypulse.robot.commands.shooter.ShooterStop; import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; import com.stuypulse.robot.constants.Settings; import com.stuypulse.robot.constants.Settings.Auton; @@ -36,11 +34,8 @@ public FollowPathTrackingAlignAndShoot(PathPlannerPath path, Command alignComman new ShooterWaitForTarget(), new ConveyorShoot(), new WaitCommand(Settings.Conveyor.SHOOT_WAIT_DELAY.get()), - // ConveyorShoot.untilDone() - // .withTimeout(Settings.Conveyor.SHOOT_WAIT_DELAY.get()), new ConveyorStop(), new IntakeStop() - // new ShooterStop() ); } diff --git a/src/main/java/com/stuypulse/robot/commands/auton/HGF/FourPieceHGF.java b/src/main/java/com/stuypulse/robot/commands/auton/HGF/FourPieceHGF.java index c81af14a..a43ff052 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/HGF/FourPieceHGF.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/HGF/FourPieceHGF.java @@ -5,7 +5,6 @@ import com.stuypulse.robot.commands.auton.FollowPathAndIntake; import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine; import com.stuypulse.robot.commands.shooter.ShooterPodiumShot; -import com.stuypulse.robot.commands.shooter.ShooterStop; import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; import com.stuypulse.robot.commands.swerve.SwerveDriveToPose; import com.stuypulse.robot.commands.swerve.SwerveDriveToShoot; diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java index 567274de..a2ddeba8 100644 --- a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java +++ b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java @@ -15,7 +15,6 @@ import com.stuypulse.stuylib.streams.vectors.filters.VLowPassFilter; import com.stuypulse.stuylib.streams.vectors.filters.VRateLimit; -import com.stuypulse.robot.constants.Settings; import com.stuypulse.robot.constants.Settings.Driver.Drive; import com.stuypulse.robot.constants.Settings.Driver.Turn; import com.stuypulse.robot.subsystems.swerve.SwerveDrive;