Remove encoder connection check

Galaxia5987 · Jan 19, 2024 · 17602f1 · 17602f1
1 parent 33e5e41
commit 17602f1
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Showing 5 changed files with 0 additions and 26 deletions.
diff --git a/src/main/java/frc/robot/swerve/ModuleIO.java b/src/main/java/frc/robot/swerve/ModuleIO.java
@@ -36,8 +36,4 @@ default boolean hasPIDChanged(LoggedTunableNumber[] PIDValues) {
     Command checkModule();
 
     default void updateOffset(Rotation2d offset) {}
-
-    default boolean encoderConnected() {
-        return true;
-    }
 }
diff --git a/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java b/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java
@@ -173,11 +173,6 @@ public void updateOffset(Rotation2d offset) {
         angleEncoder.setPosition(getEncoderAngle() - offset.getRotations());
     }
 
-    @Override
-    public boolean encoderConnected() {
-        return encoder.isConnected();
-    }
-
     private double getEncoderAngle() {
         return 1.0 - encoder.getAbsolutePosition();
     }

diff --git a/src/main/java/frc/robot/swerve/ModuleIOTalonFX.java b/src/main/java/frc/robot/swerve/ModuleIOTalonFX.java
@@ -216,9 +216,4 @@ public Command checkModule() {
     public void updateOffset(Rotation2d offset) {
         angleMotor.setPosition(encoder.getAbsolutePosition() - offset.getRotations());
     }
-
-    @Override
-    public boolean encoderConnected() {
-        return encoder.isConnected();
-    }
 }
diff --git a/src/main/java/frc/robot/swerve/SwerveDrive.java b/src/main/java/frc/robot/swerve/SwerveDrive.java
@@ -169,10 +169,6 @@ public void resetPose() {
         resetPose(new Pose2d());
     }
 
-    public boolean encodersConnected() {
-        return Arrays.stream(modules).allMatch(SwerveModule::encoderConnected);
-    }
-
     public Command checkSwerve() {
         var command =
                 Stream.of(modules)

diff --git a/src/main/java/frc/robot/swerve/SwerveModule.java b/src/main/java/frc/robot/swerve/SwerveModule.java
@@ -7,7 +7,6 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import lib.math.differential.BooleanTrigger;
 import org.littletonrobotics.junction.Logger;
 
 public class SwerveModule extends SubsystemBase {
@@ -17,7 +16,6 @@ public class SwerveModule extends SubsystemBase {
     private final ModuleIO io;
 
     private final int number;
-    private final BooleanTrigger encoderTrigger = new BooleanTrigger();
     private final Timer timer = new Timer();
 
     private double lastDistance = 0;
@@ -106,10 +104,6 @@ public void stop() {
         io.stop();
     }
 
-    public boolean encoderConnected() {
-        return io.encoderConnected();
-    }
-
     public Command checkModule() {
         return io.checkModule();
     }
@@ -133,8 +127,6 @@ public void updateInputs() {
 
     @Override
     public void periodic() {
-        encoderTrigger.update(io.encoderConnected());
-
         deltas = new double[loggerInputs.highFreqDistances.length];
         for (int i = 0; i < deltas.length; i++) {
             deltas[i] = loggerInputs.highFreqDistances[i] - lastDistance;