clean pivot shooter, also note shooter kinda needs to be retuned (fly…

…wheels and the pivot shooter)

src/main/java/frc/robot/subsystems/pivotshooter/PivotShooter.java

@@ -13,7 +13,6 @@
 import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.utils.DisableSubsystem;
@@ -76,25 +75,11 @@ public Command off() {
     return this.runOnce(pivotShooterIO::off);
   }
 
-  public Command slamZero() {
-    return this.run(() -> pivotShooterIO.setVoltage(PivotShooterConstants.kPivotSlamShooterVoltage))
-        .until(
-            () ->
-                pivotShooterIOAutoLogged.pivotShooterMotorStatorCurrent
-                    > PivotShooterConstants.kPivotSlamStallCurrent)
-        .andThen(this.zero());
-  }
-
   public Command setSub() {
     return setPosition(
         PivotShooterConstants.kSubWooferPreset * PivotShooterConstants.kPivotMotorGearing);
   }
 
-  public Command slamAndPID() {
-
-    return Commands.sequence(this.setPosition(0), this.slamZero());
-  }
-
   public Command zero() {
     return this.runOnce(pivotShooterIO::zero);
   }

src/main/java/frc/robot/subsystems/pivotshooter/PivotShooterConstants.java

@@ -22,21 +22,16 @@ public final class PivotShooterConstants {
 
   public static final int kPivotMotorID = 51;
 
-  /* PID */
-
   /* Physics/geometry */
-  public static final double kPivotMotorGearing = 138.333; // 22 by 1
+  public static final double kPivotMotorGearing = 138.333; // TODO: get from nate
 
-  /* Preset */
-  public static final double kPivotSlamIntakeVoltage = -5;
-  public static final double kPivotSlamShooterVoltage = -2;
+  // max value is 8, min is 0
 
   /* Misc */
   public static final boolean kUseFOC = false;
   public static final boolean kUseMotionMagic = false; // idk
   public static final double updateFrequency = 50.0;
   public static final int flashConfigRetries = 5;
-  public static final double kPivotSlamStallCurrent = 50;
 
   public static final TalonFXConfiguration motorConfigs =
       new TalonFXConfiguration()