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FRCTeam1987 · Apr 21, 2024 · 0ca3171 · 0ca3171
1 parent d18aea6
commit 0ca3171
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -23,7 +23,6 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-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;
@@ -32,19 +31,13 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.control.AimLockWrist;
-import frc.robot.commands.control.Climb;
 import frc.robot.commands.control.GoHome;
-import frc.robot.commands.control.IdleShooter;
 import frc.robot.commands.control.NewShootAmpAuto;
 import frc.robot.commands.control.ReverseIntake;
 import frc.robot.commands.control.ShootAmp;
 import frc.robot.commands.control.ShootSubwoofer;
 import frc.robot.commands.control.ShootSubwooferFirstHalf;
-import frc.robot.commands.control.ShootSubwooferFlat;
-import frc.robot.commands.control.ShootTall;
 import frc.robot.commands.control.StopAll;
-import frc.robot.commands.control.amp.FireRevAmp;
-import frc.robot.commands.control.amp.PrepRevAmp;
 import frc.robot.commands.control.auto.AutoAimLockWrist;
 import frc.robot.commands.control.auto.AutoIdleShooter;
 import frc.robot.commands.control.auto.InstantShoot;
@@ -59,7 +52,6 @@
 import frc.robot.commands.movement.CollectNoteAuto;
 import frc.robot.commands.movement.DriveToNote;
 import frc.robot.commands.movement.DriveToNoteAuto;
-import frc.robot.commands.movement.PointAtAprilTag;
 import frc.robot.commands.movement.SwerveCommand;
 import frc.robot.commands.qol.AsyncRumble;
 import frc.robot.commands.qol.DefaultCANdle;
@@ -140,7 +132,9 @@ private void configureDriverController() {
         .onTrue(
             new GoHome(ELEVATOR, WRIST, SHOOTER, INTAKE)
                 .andThen(new InstantCommand(() -> WRIST.goHome())));
-    DRIVER_CONTROLLER.x().onTrue(new PoopNote(SHOOTER, 1500).andThen(() -> SHOOTER.stopShooter(), SHOOTER));
+    DRIVER_CONTROLLER
+        .x()
+        .onTrue(new PoopNote(SHOOTER, 1500).andThen(() -> SHOOTER.stopShooter(), SHOOTER));
     DRIVER_CONTROLLER
         .leftBumper()
         .onTrue(

diff --git a/src/main/java/frc/robot/commands/movement/SwerveCommand.java b/src/main/java/frc/robot/commands/movement/SwerveCommand.java
@@ -1,7 +1,6 @@
 package frc.robot.commands.movement;
 
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -25,7 +24,7 @@
  */
 public class SwerveCommand extends Command {
 
-  static private final double MAX_SPEED_TRANSLATION = 2.0;
+  private static final double MAX_SPEED_TRANSLATION = 2.0;
 
   private final PIDController THETA_CONTROLLER;
   private final IntSupplier POV_DEGREE;
@@ -117,9 +116,17 @@ public void execute() {
 
     DRIVETRAIN.setControl(
         DRIVE_REQUEST
-            .withVelocityX(MathUtil.clamp(xPercentage, -MAX_SPEED_TRANSLATION, MAX_SPEED_TRANSLATION)) // Drive forward with
+            .withVelocityX(
+                MathUtil.clamp(
+                    xPercentage,
+                    -MAX_SPEED_TRANSLATION,
+                    MAX_SPEED_TRANSLATION)) // Drive forward with
             // negative Y (forward)
-            .withVelocityY(MathUtil.clamp(yPercentage, -MAX_SPEED_TRANSLATION, MAX_SPEED_TRANSLATION)) // Drive left with negative X (left)
+            .withVelocityY(
+                MathUtil.clamp(
+                    yPercentage,
+                    -MAX_SPEED_TRANSLATION,
+                    MAX_SPEED_TRANSLATION)) // Drive left with negative X (left)
             .withRotationalRate(rotationalVelocity));
   }