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Clean Up Code For Archive #26

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9 changes: 4 additions & 5 deletions src/main/java/org/carlmontrobotics/Constants.java
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Expand Up @@ -16,7 +16,6 @@
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.XboxController.Axis;
import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.math.util.Units;
import static org.carlmontrobotics.Config.CONFIG;

Expand Down Expand Up @@ -273,8 +272,8 @@ public static final class IntakeC {
public static final int INTAKE_ID = 24;
public static final int INTAKE_FOLLOWER_ID = 21;
public static final int CONVEYOR_ID = 22;
public static final double INTAKE_SPEED = 3000; //TODO
public static final double CONVEYOR_SPEED = 0.9; //TODO
public static final double INTAKE_SPEED = 3000;
public static final double CONVEYOR_SPEED = 0.9;
}
public static final class OuttakeC {
public static final int OUTTAKE_ID = 31;
Expand All @@ -285,8 +284,8 @@ public static final class OuttakeC {
public static final MotorConfig OUTTAKE_FOLLOWER_MOTOR_CONFIG = MotorConfig.NEO_VORTEX;
public static final MotorConfig OUTTAKE_FEEDER_MOTOR_CONFIG = MotorConfig.NEO_VORTEX;

public static final double OUTTAKE_SHOOTING_RPM = 2450; //TODO
public static final double OUTTAKE_PASSING_RPM = 5000; //TODO
public static final double OUTTAKE_SHOOTING_RPM = 2450;
public static final double OUTTAKE_PASSING_RPM = 5000;

public static final double kP = 0.0004;
public static final double kI = 0;
Expand Down
3 changes: 0 additions & 3 deletions src/main/java/org/carlmontrobotics/Robot.java
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Expand Up @@ -4,10 +4,7 @@

package org.carlmontrobotics;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

Expand Down
31 changes: 2 additions & 29 deletions src/main/java/org/carlmontrobotics/RobotContainer.java
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Expand Up @@ -17,67 +17,41 @@
import org.carlmontrobotics.commands.ManipulatorCommands.RunConveyor;
import org.carlmontrobotics.commands.ManipulatorCommands.ShootBalls;
import org.carlmontrobotics.commands.ManipulatorCommands.SmartShoot;
import org.carlmontrobotics.commands.ManipulatorCommands.OuttakeFeeder;

import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_PASSING_RPM;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_SHOOTING_RPM;

import java.util.ArrayList;
import java.util.List;
import java.util.Optional;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;

import java.util.function.BooleanSupplier;

import javax.print.attribute.standard.MediaSize.NA;

import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;

//auton
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.path.GoalEndState;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.path.Waypoint;
import com.pathplanner.lib.auto.NamedCommands;

//controllers
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Axis;
import edu.wpi.first.wpilibj.XboxController.Button;

//commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;

//control bindings
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.POVButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;

//constants
import org.carlmontrobotics.Constants.OI;
import org.carlmontrobotics.Constants.OI.Driver;
import org.carlmontrobotics.Constants.OI.Manipulator;
import org.carlmontrobotics.Constants.OuttakeC;
import org.carlmontrobotics.Constants.Drivetrainc.Autoc;


//smartdashboard/elastic
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
Expand Down Expand Up @@ -119,7 +93,6 @@ public RobotContainer() {
setBindingsManipulator();

SmartDashboard.putBoolean("Baby Mode", Config.CONFIG.isBabyMode());
// SmartDashboard.putData("Rotate Command",new RotateToTag(drivetrain, limelight));
SmartDashboard.putString("Alliance", DriverStation.getAlliance().toString());
SmartDashboard.putString("Location", DriverStation.getLocation().toString());
SmartDashboard.putBoolean("Connected to FMS?", DriverStation.isFMSAttached());
Expand Down
19 changes: 0 additions & 19 deletions src/main/java/org/carlmontrobotics/commands/AutonCommands/CenterLeftNeutralAuto.java
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Expand Up @@ -6,16 +6,13 @@

import static org.carlmontrobotics.Constants.IntakeC.CONVEYOR_SPEED;
import static org.carlmontrobotics.Constants.IntakeC.INTAKE_SPEED;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_FEEDER_VOLT_PERC;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_SHOOTING_RPM;

import org.carlmontrobotics.subsystems.Drivetrain;
import org.carlmontrobotics.subsystems.Intake;
import org.carlmontrobotics.subsystems.Outtake;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
Expand All @@ -40,14 +37,6 @@ public CenterLeftNeutralAuto(Drivetrain dt, Outtake shooter, Intake intake) {
this.dt = dt;
timer = new Timer();
addRequirements(shooter, intake, dt);
// SmartDashboard.putNumber("startShoot", startShoot);
// SmartDashboard.putNumber("endshoot", endshoot);
// SmartDashboard.putNumber("endStrafe", endStrafe);
// SmartDashboard.putNumber("endFastDrive", endFastDrive);
// SmartDashboard.putNumber("endSlowDrive", endSlowDrive);
// SmartDashboard.putNumber("endRotation", endRotation);
// SmartDashboard.putNumber("endStrafeDrive", endStrafeDrive);
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
Expand All @@ -56,13 +45,6 @@ public void initialize() {
dt.resetFieldOrientation();
dt.setFieldOriented(true);
timer.restart();
// startShoot = SmartDashboard.getNumber("startShoot", startShoot);
// endshoot = SmartDashboard.getNumber("endshoot", endshoot);
// endStrafe = SmartDashboard.getNumber("endStrafe", endStrafe);
// endFastDrive = SmartDashboard.getNumber("endFastDrive", endFastDrive);
// endSlowDrive = SmartDashboard.getNumber("endSlowDrive", endSlowDrive);
// endRotation = SmartDashboard.getNumber("endRotation", endRotation);
// endStrafeDrive= SmartDashboard.getNumber("endStrafeDrive", endStrafeDrive);
}

// Called every time the scheduler runs while the command is scheduled.
Expand Down Expand Up @@ -108,7 +90,6 @@ public void end(boolean interrupted) {
shooter.spinOuttakeFeeder(0);
intake.stopConveyor();
dt.stop();
//intake.stopIntake();
}

// Returns true when the command should end.
Expand Down
19 changes: 0 additions & 19 deletions src/main/java/org/carlmontrobotics/commands/AutonCommands/CenterRightNeutralAuto.java
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Expand Up @@ -6,16 +6,13 @@

import static org.carlmontrobotics.Constants.IntakeC.CONVEYOR_SPEED;
import static org.carlmontrobotics.Constants.IntakeC.INTAKE_SPEED;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_FEEDER_VOLT_PERC;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_SHOOTING_RPM;

import org.carlmontrobotics.subsystems.Drivetrain;
import org.carlmontrobotics.subsystems.Intake;
import org.carlmontrobotics.subsystems.Outtake;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
Expand All @@ -40,14 +37,6 @@ public CenterRightNeutralAuto(Drivetrain dt, Outtake shooter, Intake intake) {
this.dt = dt;
timer = new Timer();
addRequirements(shooter, intake, dt);
// SmartDashboard.putNumber("startShoot", startShoot);
// SmartDashboard.putNumber("endshoot", endshoot);
// SmartDashboard.putNumber("endStrafe", endStrafe);
// SmartDashboard.putNumber("endFastDrive", endFastDrive);
// SmartDashboard.putNumber("endSlowDrive", endSlowDrive);
// SmartDashboard.putNumber("endRotation", endRotation);
// SmartDashboard.putNumber("endStrafeDrive", endStrafeDrive);
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
Expand All @@ -56,13 +45,6 @@ public void initialize() {
dt.resetFieldOrientation();
dt.setFieldOriented(true);
timer.restart();
// startShoot = SmartDashboard.getNumber("startShoot", startShoot);
// endshoot = SmartDashboard.getNumber("endshoot", endshoot);
// endStrafe = SmartDashboard.getNumber("endStrafe", endStrafe);
// endFastDrive = SmartDashboard.getNumber("endFastDrive", endFastDrive);
// endSlowDrive = SmartDashboard.getNumber("endSlowDrive", endSlowDrive);
// endRotation = SmartDashboard.getNumber("endRotation", endRotation);
// endStrafeDrive= SmartDashboard.getNumber("endStrafeDrive", endStrafeDrive);
}

// Called every time the scheduler runs while the command is scheduled.
Expand Down Expand Up @@ -108,7 +90,6 @@ public void end(boolean interrupted) {
shooter.spinOuttakeFeeder(0);
intake.stopConveyor();
dt.stop();
//intake.stopIntake();
}

// Returns true when the command should end.
Expand Down
21 changes: 0 additions & 21 deletions src/main/java/org/carlmontrobotics/commands/AutonCommands/LeftNeutralAuto.java
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Expand Up @@ -4,18 +4,13 @@

package org.carlmontrobotics.commands.AutonCommands;

import static org.carlmontrobotics.Constants.IntakeC.CONVEYOR_SPEED;
import static org.carlmontrobotics.Constants.IntakeC.INTAKE_SPEED;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_FEEDER_VOLT_PERC;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_SHOOTING_RPM;

import org.carlmontrobotics.subsystems.Drivetrain;
import org.carlmontrobotics.subsystems.Intake;
import org.carlmontrobotics.subsystems.Outtake;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
Expand All @@ -40,14 +35,6 @@ public LeftNeutralAuto(Drivetrain dt, Outtake shooter, Intake intake) {
this.dt = dt;
timer = new Timer();
addRequirements(shooter, intake, dt);
// SmartDashboard.putNumber("startShoot", startShoot);
// SmartDashboard.putNumber("endshoot", endshoot);
// SmartDashboard.putNumber("endStrafe", endStrafe);
// SmartDashboard.putNumber("endFastDrive", endFastDrive);
// SmartDashboard.putNumber("endSlowDrive", endSlowDrive);
// SmartDashboard.putNumber("endRotation", endRotation);
// SmartDashboard.putNumber("endStrafeDrive", endStrafeDrive);
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
Expand All @@ -56,13 +43,6 @@ public void initialize() {
dt.resetFieldOrientation();
dt.setFieldOriented(true);
timer.restart();
// startShoot = SmartDashboard.getNumber("startShoot", startShoot);
// endshoot = SmartDashboard.getNumber("endshoot", endshoot);
// endStrafe = SmartDashboard.getNumber("endStrafe", endStrafe);
// endFastDrive = SmartDashboard.getNumber("endFastDrive", endFastDrive);
// endSlowDrive = SmartDashboard.getNumber("endSlowDrive", endSlowDrive);
// endRotation = SmartDashboard.getNumber("endRotation", endRotation);
// endStrafeDrive= SmartDashboard.getNumber("endStrafeDrive", endStrafeDrive);
}

// Called every time the scheduler runs while the command is scheduled.
Expand Down Expand Up @@ -94,7 +74,6 @@ public void end(boolean interrupted) {
shooter.spinOuttakeFeeder(0);
intake.stopConveyor();
dt.stop();
//intake.stopIntake();
}

// Returns true when the command should end.
Expand Down
24 changes: 0 additions & 24 deletions src/main/java/org/carlmontrobotics/commands/AutonCommands/RightNeutralAuto.java
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Expand Up @@ -4,18 +4,13 @@

package org.carlmontrobotics.commands.AutonCommands;

import static org.carlmontrobotics.Constants.IntakeC.CONVEYOR_SPEED;
import static org.carlmontrobotics.Constants.IntakeC.INTAKE_SPEED;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_FEEDER_VOLT_PERC;
import static org.carlmontrobotics.Constants.OuttakeC.OUTTAKE_SHOOTING_RPM;

import org.carlmontrobotics.subsystems.Drivetrain;
import org.carlmontrobotics.subsystems.Intake;
import org.carlmontrobotics.subsystems.Outtake;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
Expand All @@ -25,9 +20,6 @@ public class RightNeutralAuto extends Command {
private final Intake intake;
private final Timer timer;

private double startShoot = 0.5;
private double endshoot = 4;
private double endStrafe = 1;
private double endFastDrive = 2.4;
private double endSlowDrive = 0.1;
private double endRotation = 0.6;
Expand All @@ -40,14 +32,6 @@ public RightNeutralAuto(Drivetrain dt, Outtake shooter, Intake intake) {
this.dt = dt;
timer = new Timer();
addRequirements(shooter, intake, dt);
// SmartDashboard.putNumber("startShoot", startShoot);
// SmartDashboard.putNumber("endshoot", endshoot);
// SmartDashboard.putNumber("endStrafe", endStrafe);
// SmartDashboard.putNumber("endFastDrive", endFastDrive);
// SmartDashboard.putNumber("endSlowDrive", endSlowDrive);
// SmartDashboard.putNumber("endRotation", endRotation);
// SmartDashboard.putNumber("endStrafeDrive", endStrafeDrive);
// Use addRequirements() here to declare subsystem dependencies.
}

// Called when the command is initially scheduled.
Expand All @@ -56,13 +40,6 @@ public void initialize() {
dt.resetFieldOrientation();
dt.setFieldOriented(true);
timer.restart();
// startShoot = SmartDashboard.getNumber("startShoot", startShoot);
// endshoot = SmartDashboard.getNumber("endshoot", endshoot);
// endStrafe = SmartDashboard.getNumber("endStrafe", endStrafe);
// endFastDrive = SmartDashboard.getNumber("endFastDrive", endFastDrive);
// endSlowDrive = SmartDashboard.getNumber("endSlowDrive", endSlowDrive);
// endRotation = SmartDashboard.getNumber("endRotation", endRotation);
// endStrafeDrive= SmartDashboard.getNumber("endStrafeDrive", endStrafeDrive);
}

// Called every time the scheduler runs while the command is scheduled.
Expand Down Expand Up @@ -94,7 +71,6 @@ public void end(boolean interrupted) {
shooter.spinOuttakeFeeder(0);
intake.stopConveyor();
dt.stop();
//intake.stopIntake();
}

// Returns true when the command should end.
Expand Down
1 change: 0 additions & 1 deletion src/main/java/org/carlmontrobotics/commands/DriveCommands/RotateToFieldRelativeAngle.java
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Expand Up @@ -8,7 +8,6 @@
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;

public class RotateToFieldRelativeAngle extends Command {
Expand Down
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