Fixs bc i fucked up (#36)

* things and stuff

* fix stuff

* fix stuff

src/main/java/frc/robot/Robot.java

@@ -30,8 +30,6 @@ public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
-    //    uncomment the line below if there is a USB camera plugged into the RoboRIO
-    //    CameraServer.startAutomaticCapture();
   }
 
   /**

src/main/java/frc/robot/commands/auto/BlueFiveNote.java

@@ -12,9 +12,6 @@
 import frc.robot.subsystems.swerve.DriveSubsystem;
 import frc.robot.subsystems.vision.VisionSubsystem;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class BlueFiveNote extends SequentialCommandGroup {
   /** Creates a new FiveNotePath. */
   public BlueFiveNote(

src/main/java/frc/robot/commands/auto/RedFiveNote.java

@@ -12,9 +12,6 @@
 import frc.robot.subsystems.swerve.DriveSubsystem;
 import frc.robot.subsystems.vision.VisionSubsystem;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class RedFiveNote extends SequentialCommandGroup {
   /** Creates a new FiveNotePath. */
   public RedFiveNote(

src/main/java/frc/robot/commands/auto/SpinUpForSpeakerAuto.java

@@ -1,7 +1,3 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.commands.auto;
 
 import edu.wpi.first.wpilibj2.command.Command;

src/main/java/frc/robot/commands/shooter/FlywheelSpinUpAuto.java

@@ -25,7 +25,6 @@ public FlywheelSpinUpAuto(ShooterSubsystem shooterSubsystem, DriveSubsystem driv
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-
     speakerPos =
         isRed
             ? new Translation2d(FieldConstants.RED_SPEAKER_X, FieldConstants.RED_SPEAKER_Y)

src/main/java/frc/robot/commands/shooter/ShootPass.java

@@ -79,7 +79,6 @@ public void initialize() {
   @Override
   public void execute() {
     super.execute();
-
     // positions + distance
     Translation2d robotPos = driveSubsystem.getPose().getTranslation();
     double distance = robotPos.getDistance(passingPos);

src/main/java/frc/robot/extras/LimelightHelpers.java

@@ -27,7 +27,6 @@
 public class LimelightHelpers {
 
   public static class LimelightTarget_Retro {
-
     @JsonProperty("t6c_ts")
     private double[] cameraPose_TargetSpace;
 
@@ -261,7 +260,6 @@ public LimelightTarget_Detector() {}
   }
 
   public static class Results {
-
     @JsonProperty("pID")
     public double pipelineID;
 

src/main/java/frc/robot/extras/NoteDetector.java

@@ -15,7 +15,7 @@ public class NoteDetector {
   private static Pose2d notePos;
   private static BilinearInterpolator pixelLookupInterpolator;
 
-  public NoteDetector() {
+  private NoteDetector() {
     pixelLookupInterpolator = new BilinearInterpolator(VisionConstants.noteDetectionLookupTable);
   }
 

src/main/java/frc/robot/extras/interpolators/BilinearInterpolator.java

@@ -109,7 +109,6 @@ else if (inputYValue < lookupTable[i][1] && inputYValue > lookupTable[i + 7][1])
           };
         }
       }
-
       // check for first row for only x interpolation
       for (int i = 0; i < 7; i++) {
         if (inputYValue == lookupTable[i][1]) {
@@ -128,7 +127,6 @@ else if (inputYValue < lookupTable[i][1] && inputYValue > lookupTable[i + 7][1])
           }
         }
       }
-
       // check for last row just to check for x only interpolation or point checking. (You can't do
       // y_interpolation or diagonal)
       for (int i = lookupTable.length - 7; i < lookupTable.length; i++) {

src/main/java/frc/robot/extras/swerve/SwerveSetpointGenerator.java

@@ -20,11 +20,7 @@
 import java.util.Optional;
 
 /**
- * Code modified again by FRC team 4829. hehehehhehehe
- *
- * <p>"Inspired" by FRC team 254. See the license file in the root directory of this project.
- *
- * <p>Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path
+ * Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path
  * follower), and outputs a new setpoint that respects all of the kinematic constraints on module
  * rotation speed and wheel velocity/acceleration. By generating a new setpoint every iteration, the
  * robot will converge to the desired setpoint quickly while avoiding any intermediate state that is
@@ -160,28 +156,6 @@ protected double findDriveMaxS(
     return findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, max_iterations);
   }
 
-  // protected double findDriveMaxS(
-  //     double x_0, double y_0, double x_1, double y_1, double max_vel_step) {
-  //   // Our drive velocity between s=0 and s=1 is quadratic in s:
-  //   // v^2 = ((x_1 - x_0) * s + x_0)^2 + ((y_1 - y_0) * s + y_0)^2
-  //   //     = a * s^2 + b * s + c
-  //   // Where:
-  //   //   a = (x_1 - x_0)^2 + (y_1 - y_0)^2
-  //   //   b = 2 * x_0 * (x_1 - x_0) + 2 * y_0 * (y_1 - y_0)
-  //   //   c = x_0^2 + y_0^2
-  //   // We want to find where this quadratic results in a velocity that is > max_vel_step from our
-  //   // velocity at s=0:
-  //   // sqrt(x_0^2 + y_0^2) +/- max_vel_step = ...quadratic...
-  //   final double dx = x_1 - x_0;
-  //   final double dy = y_1 - y_0;
-  //   final double a = dx * dx + dy * dy;
-  //   final double b = 2.0 * x_0 * dx + 2.0 * y_0 * dy;
-  //   final double c = x_0 * x_0 + y_0 * y_0;
-  //   final double v_limit_upper_2 = Math.pow(Math.hypot(x_0, y_0) + max_vel_step, 2.0);
-  //   final double v_limit_lower_2 = Math.pow(Math.hypot(x_0, y_0) - max_vel_step, 2.0);
-  //   return 0.0;
-  // }
-
   /**
    * Generate a new setpoint.
    *