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Iron-Panthers · Jan 12, 2024 · 80d6e71 · 80d6e71
1 parent aeb7357
commit 80d6e71
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Showing 4 changed files with 3 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -37,7 +37,6 @@
 import frc.util.ControllerUtil;
 import frc.util.Layer;
 import frc.util.MacUtil;
-import frc.util.SharedReference;
 import frc.util.Util;
 import java.util.Map;
 import java.util.Optional;

diff --git a/src/main/java/frc/robot/autonomous/TrajectoryFollower.java b/src/main/java/frc/robot/autonomous/TrajectoryFollower.java
@@ -6,7 +6,6 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.trajectory.Trajectory;
-import frc.robot.Constants.Config;
 import java.util.Optional;
 
 /**

diff --git a/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java b/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java
@@ -138,7 +138,7 @@ public DrivebaseSubsystem(VisionSubsystem visionSubsystem) {
 
           var alliance = DriverStation.getAlliance();
           if (alliance.isPresent()) {
-              return alliance.get() == DriverStation.Alliance.Red;
+            return alliance.get() == DriverStation.Alliance.Red;
           }
           return false;
         },

diff --git a/src/main/java/frc/util/AdvancedSwerveTrajectoryFollower.java b/src/main/java/frc/util/AdvancedSwerveTrajectoryFollower.java
@@ -7,10 +7,8 @@
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
-import frc.robot.Constants.Config;
 import frc.robot.autonomous.TrajectoryFollower;
 
 /**
@@ -69,7 +67,8 @@ protected ChassisSpeeds calculateDriveSignal(
 
     // if (Config.RUN_PATHPLANNER_SERVER)
     //   PathPlannerServer.sendPathFollowingData(
-    //       new Pose2d(poseRef.getTranslation(), Rotation2d.fromDegrees(targetDegrees)), currentPose);
+    //       new Pose2d(poseRef.getTranslation(), Rotation2d.fromDegrees(targetDegrees)),
+    // currentPose);
 
     // scope current and target angles
     double angularDifferenceDeg = Util.relativeAngularDifference(currentDegrees, targetDegrees);