removed speaker/feeding from after transition

team581 · Oct 2, 2024 · f46234b · f46234b
1 parent 1fb59c7
commit f46234b
Showing 1 changed file with 1 addition and 13 deletions.
diff --git a/src/main/java/frc/robot/arm/ArmSubsystem.java b/src/main/java/frc/robot/arm/ArmSubsystem.java
@@ -159,19 +159,6 @@ protected void afterTransition(ArmState newState) {
                 Units.degreesToRotations(clamp(ArmAngle.SUBWOOFER.getDegrees()))));
       }
 
-      case FEEDING -> {
-        double newAngle =
-            Units.degreesToRotations(clamp(feedSpotDistanceToAngle.get(distanceToFeedSpot)));
-        leftMotor.setControl(positionRequest.withPosition(newAngle));
-        rightMotor.setControl(positionRequest.withPosition(newAngle));
-      }
-      case SPEAKER_SHOT -> {
-        var newAngle =
-            Units.degreesToRotations(clamp(speakerDistanceToAngle.get(distanceToSpeaker)));
-
-        leftMotor.setControl(positionRequest.withPosition(newAngle));
-        rightMotor.setControl(positionRequest.withPosition(newAngle));
-      }
       case AMP -> {
         leftMotor.setControl(
             positionRequest.withPosition(
@@ -188,6 +175,7 @@ protected void afterTransition(ArmState newState) {
             positionRequest.withPosition(
                 Units.degreesToRotations(clamp(ArmAngle.PASS.getDegrees()))));
       }
+      default -> {}
     }
   }