Code review w/ Oscar

src/main/java/frc/robot/RobotContainer.java

@@ -29,15 +29,11 @@
 import frc.robot.subsystems.drive.ModuleIO;
 import frc.robot.subsystems.drive.ModuleIOSim;
 import frc.robot.subsystems.drive.ModuleIOSparkMax;
-import frc.robot.subsystems.pivot.Pivot;
-import frc.robot.subsystems.pivot.PivotIOSim;
-import frc.robot.subsystems.flywheel.Flywheel;
-import frc.robot.subsystems.flywheel.FlywheelIO;
-import frc.robot.subsystems.flywheel.FlywheelIOSim;
-import frc.robot.subsystems.flywheel.FlywheelIOSparkMax;
 import frc.robot.subsystems.intake.Intake;
 import frc.robot.subsystems.intake.IntakeIOReal;
 import frc.robot.subsystems.intake.IntakeIOSim;
+import frc.robot.subsystems.pivot.Pivot;
+import frc.robot.subsystems.pivot.PivotIOSim;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
@@ -74,7 +70,6 @@ public RobotContainer() {
                 new ModuleIOSparkMax(3));
         // change perchance
         pivot = Pivot.initialize(new PivotIOSim());
-        flywheel = new Flywheel(new FlywheelIOSparkMax());
         Intake.initialize(new IntakeIOReal());
         // drive = new Drive(
         // new GyroIOPigeon2(),
@@ -95,7 +90,6 @@ public RobotContainer() {
                 new ModuleIOSim(),
                 new ModuleIOSim());
         pivot = Pivot.initialize(new PivotIOSim());
-        flywheel = new Flywheel(new FlywheelIOSim());
         Intake.initialize(new IntakeIOSim());
 
         break;
@@ -166,10 +160,11 @@ private void configureButtonBindings() {
 
     controller
         .y()
-        .whileTrue(Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot));
+        .whileTrue(
+            Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot));
   }
 
-  /**   
+  /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
    * @return the command to run in autonomous

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -57,11 +57,11 @@ public Command intake() {
     // setIntakeSpeed(0)).onlyIf(() -> noteNotInIntake() == true).onlyWhile(() -> noteNotInIntake()
     // == true));
   }
-/*
-  public Command spike() {
-    return startEnd(() -> testamps = 150, () -> testamps = 0);
-  }
-*/
+  /*
+    public Command spike() {
+      return startEnd(() -> testamps = 150, () -> testamps = 0);
+    }
+  */
   public Command reverse() {
     return startEnd(() -> setIntakeSpeed(-1), () -> setIntakeSpeed(0));
   }

src/main/java/frc/robot/subsystems/pivot/Pivot.java

@@ -22,11 +22,9 @@ private Pivot(PivotIO io) {
       case REAL:
       case REPLAY:
         ffModel = new SimpleMotorFeedforward(0.0, 0.0);
-        io.configurePID(1.0, 0.0, 0.0);
         break;
       case SIM:
         ffModel = new SimpleMotorFeedforward(0.0, 0.0);
-        io.configurePID(1.0, 0.0, 0.0);
         break;
       default:
         ffModel = new SimpleMotorFeedforward(0.0, 0.0);
@@ -39,7 +37,7 @@ public static Pivot getInstance() {
   }
 
   public static Pivot initialize(PivotIO io) {
-    if (Pivot.pivotInstance == null) { 
+    if (Pivot.pivotInstance == null) {
       pivotInstance = new Pivot(io);
     }
     return pivotInstance;

src/main/java/frc/robot/subsystems/pivot/PivotIO.java

@@ -23,7 +23,4 @@ public default void setAngle(double positionRad) {}
 
   /** Stop in open loop. */
   public default void stop() {}
-
-  /** Set velocity PID constants. */
-  public default void configurePID(double kP, double kI, double kD) {}
 }

src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java

@@ -7,7 +7,7 @@
 
 public class PivotIOSim implements PivotIO {
   private SingleJointedArmSim sim =
-      new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0);
+  new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0);
   private PIDController pid = new PIDController(0.2, 0.0, 0.0);
 
   private boolean closedLoop = true;
@@ -20,7 +20,7 @@ public void updateInputs(PivotIOInputs inputs) {
 
     appliedVolts = MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0);
     sim.setInputVoltage(appliedVolts);
-    
+
     inputs.positionRad = sim.getAngleRads();
     inputs.appliedVolts = appliedVolts;
     inputs.velocityRadPerSec = sim.getVelocityRadPerSec();
@@ -30,7 +30,7 @@ public void updateInputs(PivotIOInputs inputs) {
   public void setAngle(double targetAngle) {
     pid.setSetpoint(targetAngle);
   }
-
+  
   @Override
   public void setVoltage(double volts) {
     sim.setInputVoltage(volts);