Removed unsused code

Team4065 · Apr 12, 2021 · 7bebd65 · 7bebd65
1 parent f9da4cd
commit 7bebd65
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diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -12,14 +12,8 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import frc.robot.commands.ExampleCommand;
-import frc.robot.commands.FindFeedForwardGainsForVelocity;
 import frc.robot.commands.Shoot;
 import frc.robot.commands.Drivetrain.ArcadeDrive;
-import frc.robot.commands.Drivetrain.CharacterizeDrivetrain;
-import frc.robot.commands.Feeder.FeedAmmo;
-import frc.robot.commands.Feeder.PrepareAmmo;
-import frc.robot.commands.Flywheel.CharacterizeFlywheel;
-import frc.robot.commands.Flywheel.FlywheelMaintainSpeed;
 import frc.robot.commands.Flywheel.FlywheelToSpeed;
 import frc.robot.commands.Intake.IntakeDeploy;
 import frc.robot.commands.Intake.IntakeRetract;
@@ -39,11 +33,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.Utility.Motor;
-import frc.robot.Utility.Motor.ControlMode;
 import frc.robot.Utility.Motor.MotorType;
 
-//TODO configure motor feedforwards
-
 /**
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -117,24 +108,6 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    //return new CharacterizeFlywheel(m_flywheel);
-    //return new CharacterizeDrivetrain(m_drivetrain);
-    /*
-    return new FindFeedForwardGainsForVelocity(m_drivetrain,
-      (Double voltage)->{
-        m_drivetrain.setControlMode(frc.robot.subsystems.DifferentialDrivetrain.ControlMode.Voltage);
-        m_drivetrain.setLeftTarget(voltage);
-        m_drivetrain.setRightTarget(voltage);
-      },
-      ()->{
-        return m_drivetrain.getLeftVelocity();
-      },
-      ()->{
-        return m_drivetrain.getLeftAcceleration();
-      },
-      0.01
-    );
-    */
     return m_drivetrain.findFeedForwardGainsLeft;
     //return new ExampleCommand();
   }

diff --git a/src/main/java/frc/robot/commands/Shoot.java b/src/main/java/frc/robot/commands/Shoot.java
@@ -4,7 +4,6 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.commands.Conveyor.ConveyorIn;