Merge branch 'place-game-piece-comms' of https://github.com/Bearbots6…

…964/FRC2023 into place-game-piece-comms
Bearbots6964 · Mar 22, 2023 · 6ee4f05 · 6ee4f05
2 parents b9563a3 + ad7ce4f
commit 6ee4f05
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Showing 5 changed files with 6 additions and 20 deletions.
diff --git a/src/main/java/frc/robot/Interfaces/CANSparkMax.java b/src/main/java/frc/robot/Interfaces/CANSparkMax.java
@@ -1,13 +1,8 @@
 package frc.robot.Interfaces;
 
-import java.util.function.IntConsumer;
-import java.util.function.IntSupplier;
-
 import com.revrobotics.REVLibError;
-
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 
 // This code has bugs.
 
@@ -260,7 +255,6 @@ public void initSendable(SendableBuilder builder) {
     builder.addBooleanProperty("Brake Mode", this::isBraking, this::setBrakeMode);
     builder.addBooleanProperty("Coast Mode", this::isCoasting, this::setCoastMode);
 
-
     // current limits
     builder.addIntegerProperty("Current Limit", null, this::setSmartCurrentLimit);
   }
@@ -322,11 +316,8 @@ public void setCoastMode(boolean coast) {
     }
   }
 
-
   public REVLibError setSmartCurrentLimit(Long limit) {
     throwIfClosed();
     return setSmartCurrentLimit(limit.intValue(), 0, 20000);
   }
-
-
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,12 +4,12 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
 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;
-import edu.wpi.first.wpilibj.DataLogManager;
-import edu.wpi.first.wpilibj.DriverStation;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -34,7 +34,6 @@ public void robotInit() {
     // Test values for the servo on startup (This is just a test that should be removed if it
     // actually works)
 
-
     DataLogManager.start();
     DriverStation.startDataLog(DataLogManager.getLog());
   }
@@ -64,7 +63,6 @@ public void disabledInit() {}
   public void disabledPeriodic() {}
 
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
-
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -40,7 +40,7 @@ public class RobotContainer {
   private final DriveCommand m_DriveCommand = new DriveCommand(m_Tank);
   private final BalanceCommand m_BalanceCommand = new BalanceCommand(m_PID, m_Tank);
   private final AutoCommand m_AutoCommand = new AutoCommand(m_PID, m_Tank, m_claw, m_Arm);
-  private final PlaceConeSecondLevelCommand m_PlaceConeSecondLevelCommand = 
+  private final PlaceConeSecondLevelCommand m_PlaceConeSecondLevelCommand =
       new PlaceConeSecondLevelCommand(m_Tank, m_Arm);
   private final IncreaseMaxSpeedCommand m_IncreaseMaxSpeedCommand =
       new IncreaseMaxSpeedCommand(m_Tank);
@@ -93,9 +93,8 @@ private void configureButtonBindings() {
         .whileTrue(m_OpenClawCommand);
     new JoystickButton(m_armController2, XboxController.Button.kLeftBumper.value)
         .whileTrue(m_FineDriveCommand);
-    new JoystickButton(m_armController2,XboxController.Button.kB.value)
-        .whileTrue(m_PlaceConeSecondLevelCommand);    
-
+    new JoystickButton(m_armController2, XboxController.Button.kB.value)
+        .whileTrue(m_PlaceConeSecondLevelCommand);
   }
 
   public static double getDriverControllerLeftStickY() {

diff --git a/src/main/java/frc/robot/commands/AutoCommand.java b/src/main/java/frc/robot/commands/AutoCommand.java
@@ -7,7 +7,6 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.*;
 
-
 public class AutoCommand extends SequentialCommandGroup {
   public AutoCommand(PID m_pid, Tank m_driveBase, Claw m_claw, Arm m_arm) {
     addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm));

diff --git a/src/main/java/frc/robot/commands/BalanceCommand.java b/src/main/java/frc/robot/commands/BalanceCommand.java
@@ -63,8 +63,7 @@ public void execute() {
       if (Math.abs(pitchOffset) < 2) {
         driveBase.setAllMotors(0);
       } else {
-        driveBase.setAllMotors(
-            Constants.OperatorConstants.Pconstant * (pitchOffset));
+        driveBase.setAllMotors(Constants.OperatorConstants.Pconstant * (pitchOffset));
 
         SmartDashboard.putNumber(
             "motor speed", Constants.OperatorConstants.Pconstant * (pitchOffset));