Purge Nike code

Team841 · Nov 5, 2024 · aa407b9 · aa407b9
1 parent ae23278
commit aa407b9
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Showing 4 changed files with 13 additions and 209 deletions.
diff --git a/src/main/java/com/team841/calliope/Robot.java b/src/main/java/com/team841/calliope/Robot.java
@@ -22,7 +22,7 @@
 public class Robot extends LoggedRobot {
     private Command m_autonomousCommand;
 
-    private final DigitalInput intakeSensor = new DigitalInput(RC.robot == RC.Robot.CALLIOPE ? 0 : 2);
+    private final DigitalInput intakeSensor = new DigitalInput(0);
 
     public static RobotContainer m_robotContainer;
 

diff --git a/src/main/java/com/team841/calliope/RobotContainer.java b/src/main/java/com/team841/calliope/RobotContainer.java
@@ -1,13 +1,11 @@
 package com.team841.calliope;
 
 import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.mechanisms.swerve.SwerveModule;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import com.team841.calliope.constants.RC;
 import com.team841.calliope.constants.Swerve;
-import com.team841.calliope.constants.SwerveNike;
 import com.team841.calliope.drive.BioDrive;
 import com.team841.calliope.drive.Drivetrain;
 import com.team841.calliope.superstructure.Shoot;
@@ -30,12 +28,9 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.*;
-import edu.wpi.first.wpilibj2.command.button.CommandGenericHID;
 import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
-import static com.team841.calliope.constants.Swerve.DrivetrainConstants;
-
 public class RobotContainer {
 
     public final Drivetrain drivetrain;
@@ -96,10 +91,7 @@ public static RobotContainer getInstance() {
     public RobotContainer() {
         switch (RC.robotType) {
             default -> {
-                if (RC.robot == RC.Robot.CALLIOPE)
-                    this.drivetrain = new Drivetrain(Swerve.DrivetrainConstants, Swerve.FrontLeft, Swerve.FrontRight, Swerve.BackLeft, Swerve.BackRight);
-                else
-                    this.drivetrain = new Drivetrain(SwerveNike.DrivetrainConstants, SwerveNike.FrontLeft, SwerveNike.FrontRight, SwerveNike.BackLeft, SwerveNike.BackRight);
+                this.drivetrain = new Drivetrain(Swerve.DrivetrainConstants, Swerve.FrontLeft, Swerve.FrontRight, Swerve.BackLeft, Swerve.BackRight);
 
                 this.shooterIO = new ShooterIOTalonFX();
                 this.shooter = new Shooter(this.shooterIO);
@@ -120,32 +112,17 @@ public RobotContainer() {
 
         registerNamedCommands();
 
+        this.sticksPS5 = new CommandPS5Controller[1];
+        this.sticksXbox = new CommandXboxController[1];
+        this.sticksPS5[0] = new CommandPS5Controller(RC.Controllers.duoStickDrive);
+        this.sticksXbox[0] = new CommandXboxController(RC.Controllers.duoStickCoDrive);
 
-        if (RC.robot == RC.Robot.NIKE){
-            this.sticksXbox = new CommandXboxController[1];
-            this.sticksPS5 = new CommandPS5Controller[1];
-            this.sticksXbox[0] = new CommandXboxController(RC.Controllers.soloStick);
-
-            this.bioDrive = new BioDrive(
-                    this.drivetrain,
-                    () -> -sticksXbox[0].getLeftY() * Swerve.MaxSpeed,
-                    () -> -sticksXbox[0].getLeftX() * Swerve.MaxSpeed,
-                    () -> -sticksXbox[0].getRightX() * Swerve.MaxAngularRate,
-                    () -> sticksXbox[0].a().getAsBoolean());
-
-        } else {
-            this.sticksPS5 = new CommandPS5Controller[1];
-            this.sticksXbox = new CommandXboxController[1];
-            this.sticksPS5[0] = new CommandPS5Controller(RC.Controllers.duoStickDrive);
-            this.sticksXbox[0] = new CommandXboxController(RC.Controllers.duoStickCoDrive);
-
-            this.bioDrive = new BioDrive(
-                    this.drivetrain,
-                    () -> -sticksPS5[0].getLeftY() * Swerve.MaxSpeed,
-                    () -> -sticksPS5[0].getLeftX() * Swerve.MaxSpeed,
-                    () -> -sticksPS5[0].getRightX() * Swerve.MaxAngularRate,
-                    () -> sticksPS5[0].L2().getAsBoolean());
-        }
+        this.bioDrive = new BioDrive(
+                this.drivetrain,
+                () -> -sticksPS5[0].getLeftY() * Swerve.MaxSpeed,
+                () -> -sticksPS5[0].getLeftX() * Swerve.MaxSpeed,
+                () -> -sticksPS5[0].getRightX() * Swerve.MaxAngularRate,
+                () -> sticksPS5[0].L2().getAsBoolean());
 
         this.feedback = new Feedback(this.sticksXbox[0]);
 
@@ -163,11 +140,7 @@ public RobotContainer() {
 
         this.drivetrain.setDefaultCommand(bioDrive);
 
-        if (RC.robot == RC.Robot.NIKE){
-            configureSoloStick();
-        } else {
-            configureDuoStick();
-        }
+        configureDuoStick();
     }
 
 

diff --git a/src/main/java/com/team841/calliope/constants/RC.java b/src/main/java/com/team841/calliope/constants/RC.java
@@ -17,8 +17,6 @@ public class RC {
 
   public static final RunType robotType = RunType.COMP;
 
-  public static Robot robot = Robot.CALLIOPE;
-
   public static boolean motorsAreWorking = true;
 
   public static class Controllers {
@@ -53,8 +51,4 @@ public enum RunType{
     REPLAY
   }
 
-  public enum Robot{
-      CALLIOPE,
-        NIKE
-  }
 }
diff --git a/src/main/java/com/team841/calliope/constants/SwerveNike.java b/src/main/java/com/team841/calliope/constants/SwerveNike.java