remove ntPositions from climber and elevator

team581 · Feb 23, 2024 · f39c024 · f39c024
1 parent af79a70
commit f39c024
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Showing 2 changed files with 9 additions and 24 deletions.
diff --git a/src/main/java/frc/robot/climber/ClimberSubsystem.java b/src/main/java/frc/robot/climber/ClimberSubsystem.java
@@ -18,16 +18,13 @@
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
 import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
 public class ClimberSubsystem extends LifecycleSubsystem {
   private static final ClimberConfig CONFIG = RobotConfig.get().climber();
   private final TalonFX leftMotor;
   private final TalonFX rightMotor;
   private StrictFollower followRequest;
   private LinearFilter currentFilter = LinearFilter.movingAverage(CONFIG.currentTaps());
-  private final LoggedDashboardNumber ntDistance =
-      new LoggedDashboardNumber("Climber/PositionOverride", -1);
   private double goalDistance = 0.0;
   private PositionVoltage positionRequest = new PositionVoltage(goalDistance);
   private VoltageOut voltageRequest = new VoltageOut(0.0);
@@ -88,12 +85,8 @@ public void robotPeriodic() {
           default:
             break;
         }
-        double usedGoalDistance = clamp(ntDistance.get() == -1 ? goalDistance : ntDistance.get());
-
-        Logger.recordOutput("Climber/UsedGoalDistance", usedGoalDistance);
-
         leftMotor.setControl(
-            positionRequest.withPosition(inchesToRotations(usedGoalDistance).getRotations()));
+            positionRequest.withPosition(inchesToRotations(clamp(goalDistance)).getRotations()));
         rightMotor.setControl(followRequest);
 
         break;

diff --git a/src/main/java/frc/robot/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/elevator/ElevatorSubsystem.java
@@ -16,16 +16,13 @@
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
 import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
 public class ElevatorSubsystem extends LifecycleSubsystem {
   private final TalonFX motor;
 
   private final StaticBrake brakeNeutralRequest = new StaticBrake();
   private final CoastOut coastNeutralRequest = new CoastOut();
   private final PositionVoltage positionRequest = new PositionVoltage(ElevatorPositions.STOWED);
-  private final LoggedDashboardNumber ntDistance =
-      new LoggedDashboardNumber("Elevator/DistanceOverride", -1);
 
   // Homing
   private boolean preMatchHomingOccured = false;
@@ -74,19 +71,14 @@ public void robotPeriodic() {
         }
         break;
       case HOMED:
-        {
-          double usedGoalPosition =
-              clampHeight(ntDistance.get() == -1 ? goalHeight : ntDistance.get());
-          int slot = goalHeight == RobotConfig.get().elevator().minHeight() ? 1 : 0;
-          Logger.recordOutput("Elevator/UsedGoalPosition", usedGoalPosition);
-
-          motor.setControl(
-              positionRequest
-                  .withSlot(slot)
-                  .withPosition(inchesToRotations(usedGoalPosition).getRotations()));
-
-          break;
-        }
+        int slot = goalHeight == RobotConfig.get().elevator().minHeight() ? 1 : 0;
+
+        motor.setControl(
+            positionRequest
+                .withSlot(slot)
+                .withPosition(inchesToRotations(clampHeight(goalHeight)).getRotations()));
+
+        break;
       case MID_MATCH_HOMING:
         throw new IllegalStateException("Elevator can't do mid match homing");
     }