From 7cfaa354477625c36d27d3307ba930107ad81e76 Mon Sep 17 00:00:00 2001 From: MattD8957 Date: Fri, 26 Jan 2024 10:09:19 -0500 Subject: [PATCH] [#101] Merged Main + basic formating --- src/main/java/frc/robot/command/PointAtTag.java | 5 ----- src/main/java/frc/robot/subsystems/Collision.java | 0 src/main/java/frc/thunder | 2 +- 3 files changed, 1 insertion(+), 6 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/Collision.java diff --git a/src/main/java/frc/robot/command/PointAtTag.java b/src/main/java/frc/robot/command/PointAtTag.java index 88bb39d3..dfa5b0ff 100644 --- a/src/main/java/frc/robot/command/PointAtTag.java +++ b/src/main/java/frc/robot/command/PointAtTag.java @@ -48,7 +48,6 @@ public PointAtTag(Swerve drivetrain, XboxController driver, String limelight_nam this.driver = driver; this.useLimelights = useLimelights; - //TODO Figure out which of these is the right one to use for (var l : drivetrain.getLimelights()) { if (l.getName().equals(limelight_name)) { @@ -79,15 +78,11 @@ public void initialize() { @Override public void execute() { if (useLimelights) { - targetHeading = limelight.getTargetX(); - } else { - lockedOnHeading = LightningShuffleboard.getDouble("PointAtTag", "LockOnHeading", 0); LightningShuffleboard.setDouble("PointAtTag", "Drivetrain Angle", drivetrain.getPigeon2().getAngle()); targetHeading = lockedOnHeading - drivetrain.getPigeon2().getAngle(); - } lockedOnHeading = LightningShuffleboard.getDouble("PointAtTag", "LockOnHeading", 0); diff --git a/src/main/java/frc/robot/subsystems/Collision.java b/src/main/java/frc/robot/subsystems/Collision.java deleted file mode 100644 index e69de29b..00000000 diff --git a/src/main/java/frc/thunder b/src/main/java/frc/thunder index cc1afe9d..bc17e326 160000 --- a/src/main/java/frc/thunder +++ b/src/main/java/frc/thunder @@ -1 +1 @@ -Subproject commit cc1afe9d9e9419b3dda674293ffb5b7480b2bd1a +Subproject commit bc17e3266077838fd43d669470efdb727182e6b6