clean up code

ut-ras · Nov 8, 2024 · b4bb19e · b4bb19e
1 parent 90b21f6
commit b4bb19e
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Showing 2 changed files with 3 additions and 14 deletions.
diff --git a/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp b/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp
@@ -54,12 +54,12 @@ void AgitatorSubsystem::refresh()
 
         float time = getTimeMilliseconds() / 1000.0f;
     float velocity = getShapedVelocity(time, 1.0f, 0.0f, ballsPerSecond);
-    bool killSwitch = drivers->isKillSwitched() || !flywheel->isActive();
+    bool killSwitch = drivers->isKillSwitched() || !flywheel->isActive() || isAmputated();
 
-    agitator.setActive(!killSwitch || !isAmputated());
+    agitator.setActive(!killSwitch);
     agitator.updateVelocity(velocity);
 #ifdef TARGET_HERO
-    feeder.setActive(!killSwitch || !isAmputated());
+    feeder.setActive(!killSwitch);
     feeder.updateVelocity(velocity * FEEDER_RATIO);
 #endif
 }

diff --git a/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp b/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp
@@ -23,17 +23,6 @@
     using tap::algorithms::odometry::Odometry2DTracker;
     using turret::TurretSubsystem;
 
-    /*
-        hardwareOK() {
-            return chassis.hardWareOk() && turret.hardwareOk()
-        }
-
-        refresh()
-        if (!isAmputated()) {
-            do update thing
-        }
-    */
-
     class OdometrySubsystem : public UTSubsystem
     {
     public: