Cleanup

lasarobotics · Mar 30, 2024 · cd1dd6f · cd1dd6f
1 parent 6517dec
commit cd1dd6f
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Showing 2 changed files with 5 additions and 25 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -59,10 +59,15 @@ public class RobotContainer {
     DRIVE_SUBSYSTEM::getPose,
     () -> speakerSupplier()
   );
+  private static final ClimberSubsystem CLIMBER_SUBSYSTEM = new ClimberSubsystem(
+    ClimberSubsystem.initializeHardware(),
+    Constants.Climber.CLIMBER_VELOCITY
+  );
   private static final IntakeSubsystem INTAKE_SUBSYSTEM = new IntakeSubsystem(
     IntakeSubsystem.initializeHardware(),
     Constants.Intake.ROLLER_VELOCITY
   );
+
   private static final VisionSubsystem VISION_SUBSYSTEM = VisionSubsystem.getInstance();
 
   private static final CommandXboxController PRIMARY_CONTROLLER = new CommandXboxController(Constants.HID.PRIMARY_CONTROLLER_PORT);

diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
@@ -42,7 +42,6 @@ public ClimberSubsystem(Hardware climberHardware, Measure<Dimensionless> climber
     m_lClimberMotor.setInverted(true);
     m_rClimberMotor.setInverted(true);
 
-
     m_lClimberMotor.enableReverseLimitSwitch();
     m_rClimberMotor.enableReverseLimitSwitch();
 
@@ -81,33 +80,9 @@ private void stop() {
     m_rClimberMotor.stopMotor();
   }
 
-  /**
-   * Runs climber arms
-   * @return Command to run the climber motors
-   */
-  public Command runClimberCommand() {
-    return runEnd(() -> runClimber(), () -> stop());
-  }
-
-  public Command lowerLeftCommand() {
-    return runEnd(() -> m_lClimberMotor.set(-CLIMBER_VELOCITY.in(Units.Percent), ControlType.kDutyCycle), () -> stop());
-  }
-  public Command raiseLeftCommand() {
-    return runEnd(() -> m_lClimberMotor.set(CLIMBER_VELOCITY.in(Units.Percent), ControlType.kDutyCycle), () -> stop());
-  }
-  public Command lowerRightCommand() {
-    return runEnd(() -> m_rClimberMotor.set(-CLIMBER_VELOCITY.in(Units.Percent), ControlType.kDutyCycle), () -> stop());
-  }
-  public Command raiseRightCommand() {
-    return runEnd(() -> m_rClimberMotor.set(CLIMBER_VELOCITY.in(Units.Percent), ControlType.kDutyCycle), () -> stop());
-  }
-
   @Override
   public void periodic() {
     m_lClimberMotor.periodic();
     m_rClimberMotor.periodic();
-    // m_rClimberMotor.stopMotor();
-
-    CLIMBER_VELOCITY = Units.Percent.of(SmartDashboard.getNumber("climber power", 0));
   }
 }