diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index fe22b02..8b45599 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/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();
}
/**
diff --git a/src/main/java/frc/robot/commands/auto/BlueFiveNote.java b/src/main/java/frc/robot/commands/auto/BlueFiveNote.java
index 65ddc56..dd583c1 100644
--- a/src/main/java/frc/robot/commands/auto/BlueFiveNote.java
+++ b/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(
diff --git a/src/main/java/frc/robot/commands/auto/RedFiveNote.java b/src/main/java/frc/robot/commands/auto/RedFiveNote.java
index 6f9e958..e19eae3 100644
--- a/src/main/java/frc/robot/commands/auto/RedFiveNote.java
+++ b/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(
diff --git a/src/main/java/frc/robot/commands/auto/SpinUpForSpeakerAuto.java b/src/main/java/frc/robot/commands/auto/SpinUpForSpeakerAuto.java
index 5e8cc25..0232b11 100644
--- a/src/main/java/frc/robot/commands/auto/SpinUpForSpeakerAuto.java
+++ b/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;
diff --git a/src/main/java/frc/robot/commands/shooter/FlywheelSpinUpAuto.java b/src/main/java/frc/robot/commands/shooter/FlywheelSpinUpAuto.java
index 917dd5c..222a31a 100644
--- a/src/main/java/frc/robot/commands/shooter/FlywheelSpinUpAuto.java
+++ b/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)
diff --git a/src/main/java/frc/robot/commands/shooter/ShootPass.java b/src/main/java/frc/robot/commands/shooter/ShootPass.java
index 0c789a0..a42819b 100644
--- a/src/main/java/frc/robot/commands/shooter/ShootPass.java
+++ b/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);
diff --git a/src/main/java/frc/robot/extras/LimelightHelpers.java b/src/main/java/frc/robot/extras/LimelightHelpers.java
index 433a422..def8d78 100644
--- a/src/main/java/frc/robot/extras/LimelightHelpers.java
+++ b/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;
diff --git a/src/main/java/frc/robot/extras/NoteDetector.java b/src/main/java/frc/robot/extras/NoteDetector.java
index e1e6103..4858825 100644
--- a/src/main/java/frc/robot/extras/NoteDetector.java
+++ b/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);
}
diff --git a/src/main/java/frc/robot/extras/interpolators/BilinearInterpolator.java b/src/main/java/frc/robot/extras/interpolators/BilinearInterpolator.java
index c21c370..be51cd6 100644
--- a/src/main/java/frc/robot/extras/interpolators/BilinearInterpolator.java
+++ b/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++) {
diff --git a/src/main/java/frc/robot/extras/swerve/SwerveSetpointGenerator.java b/src/main/java/frc/robot/extras/swerve/SwerveSetpointGenerator.java
index 86a4bac..41ddd5d 100644
--- a/src/main/java/frc/robot/extras/swerve/SwerveSetpointGenerator.java
+++ b/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
- *
- * "Inspired" by FRC team 254. See the license file in the root directory of this project.
- *
- *
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.
*