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allenxiao6962 wants to merge 3 commits into from
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Commented Out Unused Code #99

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2e9dedb
Changed CAN network
The-REAL-Bol Feb 25, 2026
d8e455d
Commented out teleop controls that won't be used at week 0
allenx-afk Feb 25, 2026
9deb900
Commented out code for week 0
allenx-afk Feb 25, 2026
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50 changes: 25 additions & 25 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
import com.team6962.lib.logging.LoggingUtil;
import com.team6962.lib.swerve.CommandSwerveDrive;
import com.team6962.lib.vision.AprilTagVision;
import com.team6962.lib.vision.SphereClumpLocalization;
// import com.team6962.lib.vision.SphereClumpLocalization;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
Expand All @@ -20,28 +20,28 @@
import frc.robot.auto.ShooterFunctions;
import frc.robot.constants.RobotConstants;
import frc.robot.controls.TeleopControls;
import frc.robot.subsystems.climb.Climb;
import frc.robot.subsystems.hood.ShooterHood;
// import frc.robot.subsystems.climb.Climb;
// import frc.robot.subsystems.hood.ShooterHood;
import frc.robot.subsystems.hopper.Hopper;
import frc.robot.subsystems.intakeextension.IntakeExtension;
import frc.robot.subsystems.intakerollers.IntakeRollers;
import frc.robot.subsystems.shooterrollers.ShooterRollers;
import frc.robot.subsystems.turret.Turret;
// import frc.robot.subsystems.turret.Turret;
import frc.robot.subsystems.visualizer.RobotVisualizer;

public class RobotContainer {
private final RobotConstants constants;
private final CommandSwerveDrive swerveDrive;
private final TeleopControls teleopControls;
private final Turret turret;
// private final Turret turret;
private final DriveStraightAuto driveStraightAuto;
private final IntakeExtension intakeExtension;
private final ShooterHood shooterHood;
private final SphereClumpLocalization fuelClumpLocalization;
// private final ShooterHood shooterHood;
// private final SphereClumpLocalization fuelClumpLocalization;
private final ShooterRollers shooterRollers;
private final IntakeRollers intakeRollers;
private final AprilTagVision aprilTagVision;
private final Climb climb;
// private final Climb climb;
private final Hopper hopper;
private final RobotVisualizer visualizer;
private final SendableChooser<Command> autoChooser = new SendableChooser<>();
Expand All @@ -54,17 +54,17 @@ public RobotContainer() {

swerveDrive = new CommandSwerveDrive(constants.getDrivetrainConstants());

climb = new Climb();
shooterHood = new ShooterHood();
// climb = new Climb();
// shooterHood = new ShooterHood();
intakeRollers = new IntakeRollers();
shooterRollers = new ShooterRollers();
turret = new Turret();
// turret = new Turret();
intakeExtension = new IntakeExtension();
hopper = new Hopper();

aprilTagVision = new AprilTagVision(swerveDrive, constants.getAprilTagVisionConstants());
fuelClumpLocalization =
new SphereClumpLocalization(swerveDrive, constants.getSphereCameraConstants());
// fuelClumpLocalization =
// new SphereClumpLocalization(swerveDrive, constants.getSphereCameraConstants());

teleopControls = new TeleopControls(this);
teleopControls.configureBindings();
Expand Down Expand Up @@ -119,9 +119,9 @@ public CommandSwerveDrive getSwerveDrive() {
return swerveDrive;
}

public Turret getTurret() {
return turret;
}
// public Turret getTurret() {
// return turret;
// }

public AprilTagVision getAprilTagVision() {
return aprilTagVision;
Expand All @@ -135,13 +135,13 @@ public void latePeriodic() {
swerveDrive.latePeriodic();
}

public SphereClumpLocalization getFuelLocalization() {
return fuelClumpLocalization;
}
// public SphereClumpLocalization getFuelLocalization() {
// return fuelClumpLocalization;
// }

public ShooterHood getShooterHood() {
return shooterHood;
}
// public ShooterHood getShooterHood() {
// return shooterHood;
// }

public IntakeRollers getIntakeRollers() {
return intakeRollers;
Expand All @@ -151,9 +151,9 @@ public ShooterRollers getShooterRollers() {
return shooterRollers;
}

public Climb getClimb() {
return climb;
}
// public Climb getClimb() {
// return climb;
// }

public Hopper getHopper() {
return hopper;
Expand Down
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