Remove the dead code

HighlanderRobotics · Nov 17, 2024 · 589b9d7 · 589b9d7
1 parent 8fad9b3
commit 589b9d7
Showing 1 changed file with 0 additions and 80 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -699,86 +699,6 @@ private Command staticAutoAim(double tolerance) {
     return staticAutoAim(() -> tolerance);
   }
 
-  private Command autoStaticAutoAim() {
-    return feeder
-        .indexCmd()
-        .deadlineWith(
-            swerve.runVelocityCmd(() -> new ChassisSpeeds()),
-            Commands.repeatingSequence(
-                shooter
-                    .runFlywheelsCmd(() -> 0.0, () -> 0.0)
-                    .unless(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0)
-                    .until(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0),
-                shooter.runStateCmd(
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(),
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(),
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS())))
-        .until(() -> feeder.getFirstBeambreak())
-        .unless(() -> feeder.getFirstBeambreak())
-        .withTimeout(1.0)
-        .andThen(
-            staticAutoAim(6.0)
-                .deadlineWith(
-                    intake.runVoltageCmd(0, 0).asProxy(), carriage.runVoltageCmd(0).asProxy())
-                .withTimeout(2.0)
-                .unless(() -> !feeder.getFirstBeambreak()))
-        .asProxy()
-        .withTimeout(4.0);
-  }
-
-  private Command autoFenderShot() {
-    return shooter
-        .runStateCmd(
-            AutoAim.FENDER_SHOT.getRotation(),
-            AutoAim.FENDER_SHOT.getLeftRPS(),
-            AutoAim.FENDER_SHOT.getRightRPS())
-        .raceWith(
-            feeder
-                .runVelocityCmd(0.0)
-                .until(() -> shooter.isAtGoal())
-                .andThen(
-                    feeder
-                        .runVelocityCmd(FeederSubsystem.INDEXING_VELOCITY)
-                        .raceWith(
-                            Commands.waitUntil(() -> !feeder.getFirstBeambreak())
-                                .andThen(Commands.waitSeconds(0.1)))))
-        .asProxy();
-  }
-
-  private Command autoIntake() {
-    return Commands.parallel(
-        intake
-            .runVelocityCmd(50.0, 30.0)
-            .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak())
-            .asProxy(),
-        feeder.indexCmd().asProxy(),
-        carriage
-            .runVoltageCmd(CarriageSubsystem.INDEXING_VOLTAGE)
-            .until(() -> feeder.getFirstBeambreak())
-            .asProxy(),
-        shooter
-            .runStateCmd(
-                () ->
-                    Rotation2d.fromDegrees(
-                        MathUtil.clamp(
-                            AutoAim.shotMap
-                                .get(swerve.getDistanceToSpeaker())
-                                .getRotation()
-                                .getDegrees(),
-                            0,
-                            20)),
-                () -> 0.0,
-                () -> 0.0)
-            .until(() -> feeder.getFirstBeambreak())
-            .unless(() -> feeder.getFirstBeambreak())
-            .andThen(
-                shooter.runStateCmd(
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(),
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(),
-                    () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS()))
-            .asProxy());
-  }
-
   private Command ampHeadingSnap(DoubleSupplier x, DoubleSupplier y) {
     var headingController =
         new ProfiledPIDController(