Fairbotics was a myth created by advertisers to sell you more fairs

FRCTeam3255 · Jul 26, 2024 · 6696d27 · 6696d27
1 parent 7eac12e
commit 6696d27
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Showing 7 changed files with 7 additions and 108 deletions.
diff --git a/src/main/java/frc/robot/FieldConstants.java b/src/main/java/frc/robot/FieldConstants.java
@@ -20,7 +20,6 @@ public class FieldConstants {
   /**
    * <b> Units: </b> Meters
    */
-  // public static double FIELD_LENGTH = 12.85875;
   public static double FIELD_LENGTH = 16.541;
 
   /**
@@ -33,14 +32,8 @@ public class FieldConstants {
    * @return An array of field element positions. Your Speaker, Amp, Source, Left
    *         Stage, Center Stage, Right Stage, Subwoofer, Shuffle
    */
-  public static Supplier<Pose3d[]> GET_FIELD_POSITIONS(boolean fairbotics) {
+  public static Supplier<Pose3d[]> GET_FIELD_POSITIONS() {
     if (ALLIANCE.isPresent() && ALLIANCE.get().equals(Alliance.Red)) {
-      if (fairbotics) {
-        return () -> new Pose3d[] { redConstants.FAIRBOTICS_SPEAKER, redConstants.AMP, redConstants.SOURCE,
-            redConstants.LEFT_STAGE,
-            redConstants.CENTER_STAGE, redConstants.RIGHT_STAGE, redConstants.SUBWOOFER, redConstants.SHUFFLE };
-
-      }
       return () -> new Pose3d[] { redConstants.SPEAKER_CENTER, redConstants.AMP, redConstants.SOURCE,
           redConstants.LEFT_STAGE,
           redConstants.CENTER_STAGE, redConstants.RIGHT_STAGE, redConstants.SUBWOOFER, redConstants.SHUFFLE };
@@ -105,12 +98,6 @@ private static final class redConstants {
     private static final Pose3d SPEAKER_CENTER = new Pose3d(FIELD_LENGTH - (0.457 / 2), 5.557034, 2.105 - (0.133 / 2),
         new Rotation3d(0, 0, 0));
 
-    /**
-     * The coordinate of the center of the red speaker, in meters
-     */
-    private static final Pose3d FAIRBOTICS_SPEAKER = new Pose3d(16.541 - (0.457 / 2), 5.557034, 2.105 - (0.133 / 2),
-        new Rotation3d(0, 0, 0));
-
     /**
      * The coordinate of the center of the red amp, in meters
      */

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -63,7 +63,6 @@
 import frc.robot.commands.ZeroTurret;
 import frc.robot.commands.autos.AutoInterface;
 import frc.robot.commands.autos.DefaultAuto;
-import frc.robot.commands.autos.Fairbotics1pc;
 import frc.robot.commands.autos.PreloadOnly;
 import frc.robot.commands.autos.PreloadTaxi;
 import frc.robot.commands.autos.WingOnly;
@@ -180,7 +179,7 @@ private void configureDriverBindings(SN_XboxController controller) {
     // Reset Pose
     controller.btn_South
         .onTrue(Commands.runOnce(
-            () -> subDrivetrain.resetPoseToPose(FieldConstants.GET_FIELD_POSITIONS(false).get()[6].toPose2d()))
+            () -> subDrivetrain.resetPoseToPose(FieldConstants.GET_FIELD_POSITIONS().get()[6].toPose2d()))
             .alongWith(Commands.runOnce(() -> subDrivetrain.resetDriving(FieldConstants.ALLIANCE))));
 
     controller.btn_LeftTrigger
@@ -329,9 +328,6 @@ private void configureNumpadBindings(SN_SwitchboardStick switchboardStick) {
   }
 
   private void configureAutoSelector() {
-    autoChooser.setDefaultOption("FAIRBOTICS",
-        new Fairbotics1pc(subShooter, subIntake, subPitch, subTurret, subTransfer, subClimber, subLEDs));
-
     // PRELOAD ONLY
     autoChooser.addOption("Preload S1",
         new PreloadOnly(subDrivetrain, subIntake, subLEDs, subPitch, subShooter, subTransfer, subTurret, subClimber,
@@ -368,7 +364,7 @@ private void configureAutoSelector() {
             false));
 
     // Wing ONLY
-    autoChooser.addOption("Wing Only Down",
+    autoChooser.setDefaultOption("Wing Only Down",
         new WingOnly(subDrivetrain, subIntake, subLEDs, subPitch, subShooter, subTransfer, subTurret, subClimber,
             true));
 

diff --git a/src/main/java/frc/robot/commands/AimAuto.java b/src/main/java/frc/robot/commands/AimAuto.java
@@ -53,7 +53,7 @@ public void initialize() {
     desiredPitchAngle = subPitch.getPitchAngle();
     desiredTurretAngle = Rotation2d.fromDegrees(subTurret.getAngle());
 
-    fieldPoses = FieldConstants.GET_FIELD_POSITIONS(true).get();
+    fieldPoses = FieldConstants.GET_FIELD_POSITIONS().get();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

diff --git a/src/main/java/frc/robot/commands/Drive.java b/src/main/java/frc/robot/commands/Drive.java
@@ -79,7 +79,7 @@ public Drive(
   @Override
   public void initialize() {
     driveSpeed = (isPracticeBot) ? constDrivetrain.pracBot.DRIVE_SPEED : constDrivetrain.DRIVE_SPEED;
-    fieldPositions = FieldConstants.GET_FIELD_POSITIONS(false).get();
+    fieldPositions = FieldConstants.GET_FIELD_POSITIONS().get();
 
     sourcePose = fieldPositions[2].toPose2d();
     leftStage = fieldPositions[3].toPose2d();

diff --git a/src/main/java/frc/robot/commands/LockPitch.java b/src/main/java/frc/robot/commands/LockPitch.java
@@ -47,7 +47,7 @@ public LockPitch(Pitch subPitch, Drivetrain subDrivetrain) {
   public void initialize() {
     desiredAngle = subPitch.getPitchAngle();
 
-    fieldPoses = FieldConstants.GET_FIELD_POSITIONS(false).get();
+    fieldPoses = FieldConstants.GET_FIELD_POSITIONS().get();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

diff --git a/src/main/java/frc/robot/commands/LockTurret.java b/src/main/java/frc/robot/commands/LockTurret.java
@@ -49,7 +49,7 @@ public void initialize() {
   @Override
   public void execute() {
     // This is in execute in case the alliance changes after command init
-    fieldPoses = FieldConstants.GET_FIELD_POSITIONS(false).get();
+    fieldPoses = FieldConstants.GET_FIELD_POSITIONS().get();
     robotPose = subDrivetrain.getPose();
 
     Optional<Rotation2d> calculatedAngle = subTurret.getDesiredAngleToLock(robotPose, fieldPoses,

diff --git a/src/main/java/frc/robot/commands/autos/Fairbotics1pc.java b/src/main/java/frc/robot/commands/autos/Fairbotics1pc.java