From 480e4f5e6280626bd2815b8e5717b00e7e8d8ae2 Mon Sep 17 00:00:00 2001
From: stwiggy <144397102+stwiggy@users.noreply.github.com>
Date: Tue, 23 Apr 2024 10:49:19 -0700
Subject: [PATCH] deleted unwanted files

---
 .../commands/AimAtSpeaker.java                | 43 --------------
 .../carlmontrobotics/commands/MoveToNote.java | 59 -------------------
 2 files changed, 102 deletions(-)
 delete mode 100644 src/main/java/org/carlmontrobotics/commands/AimAtSpeaker.java
 delete mode 100644 src/main/java/org/carlmontrobotics/commands/MoveToNote.java

diff --git a/src/main/java/org/carlmontrobotics/commands/AimAtSpeaker.java b/src/main/java/org/carlmontrobotics/commands/AimAtSpeaker.java
deleted file mode 100644
index 1966c2c3..00000000
--- a/src/main/java/org/carlmontrobotics/commands/AimAtSpeaker.java
+++ /dev/null
@@ -1,43 +0,0 @@
-// 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 org.carlmontrobotics.commands;
-
-import org.carlmontrobotics.subsystems.Arm;
-import org.carlmontrobotics.subsystems.Drivetrain;
-import org.carlmontrobotics.subsystems.Limelight;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class AimAtSpeaker extends Command {
-  private Arm arm;
-  private Drivetrain dt;
-  private Limelight ll; //shooter limelight
-
-  /** Creates a new AimAtSpeaker. */
-  public AimAtSpeaker(Arm arm, Drivetrain dt, Limelight ll) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(this.arm = arm);
-    addRequirements(this.dt = dt);
-    this.ll = ll;
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/org/carlmontrobotics/commands/MoveToNote.java b/src/main/java/org/carlmontrobotics/commands/MoveToNote.java
deleted file mode 100644
index 81a4dc7a..00000000
--- a/src/main/java/org/carlmontrobotics/commands/MoveToNote.java
+++ /dev/null
@@ -1,59 +0,0 @@
-// 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 org.carlmontrobotics.commands;
-
-import org.carlmontrobotics.Constants.Limelightc;
-import org.carlmontrobotics.subsystems.Drivetrain;
-import org.carlmontrobotics.subsystems.Limelight;
-import org.carlmontrobotics.subsystems.LimelightHelpers;
-
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-
-public class MoveToNote extends Command {
-  private final Drivetrain dt;
-  private final Limelight ll;
-  private Timer timer = new Timer();
-  private boolean originalFieldOrientation;
-  /** Creates a new MoveToNote. */
-  public MoveToNote(Drivetrain dt, Limelight ll) {
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(this.dt=dt);
-    this.ll = ll;
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    originalFieldOrientation = dt.getFieldOriented();
-    timer.reset();
-    timer.start();
-    dt.setFieldOriented(false);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME));
-    double distErr = ll.getDistanceToNoteMeters(); //meters
-    double forwardErr = distErr * Math.cos(radErr);
-    dt.drive(Math.max(forwardErr*2, .5), 0, 0);
-    //180deg is about 6.2 rad/sec, min is .5rad/sec
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    dt.setFieldOriented(originalFieldOrientation);
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return timer.get() >= 0.5;
-  }
-}