Code Cleanup, Remove old autos in container. Refactor Intake to be ta…

…lon only.
Team4388 · Apr 4, 2024 · 9357a6e · 9357a6e
1 parent 06ce8de
commit 9357a6e
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Showing 7 changed files with 166 additions and 611 deletions.
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
@@ -13,12 +13,8 @@
 import com.ctre.phoenix.sensors.WPI_Pigeon2;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.revrobotics.CANSparkLowLevel;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.Constants.ShooterConstants;

diff --git a/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java b/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java
@@ -29,23 +29,23 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    robotIntake.talonPIDOut();
-    robotIntake.talonSpinIntakeMotor();
+    robotIntake.PIDOut();
+    robotIntake.spinIntakeMotor();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     if(interrupted) {
-      robotIntake.talonPIDIn();
-      robotIntake.talonStopIntakeMotors();
+      robotIntake.PIDIn();
+      robotIntake.stopIntakeMotors();
     }
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return robotIntake.getTalonIntakeLimitSwitchState();
+    return robotIntake.getIntakeLimitSwitchState();
     // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
     // {
     //   return !true==true;

diff --git a/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
@@ -43,7 +43,7 @@ public double getError() {
 	public void runWithOutput(double output) {
 		double out2 = MathUtil.clamp(output / 40, -59, 0);
 		if (Math.abs(getError()) < 3) out2 = 0;
-    intake.talonPIDPosition(out2);
+    intake.PIDPosition(out2);
   }
 
 }
diff --git a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
@@ -29,8 +29,8 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    robotIntake.talonPIDOut();
-    robotIntake.talonSpinIntakeMotor();
+    robotIntake.PIDOut();
+    robotIntake.spinIntakeMotor();
   }
 
   // Called once the command ends or is interrupted.
@@ -40,7 +40,7 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return robotIntake.getTalonIntakeLimitSwitchState();
+    return robotIntake.getIntakeLimitSwitchState();
     // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
     // {
     //   return !true==true;