Merge branch 'main' into lance/intake

team614frc · Nov 22, 2024 · 67e725e · 67e725e
2 parents 59cb95f + dd8dce2
commit 67e725e
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 18 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,8 +4,6 @@
 
 package frc.robot;
 
-import static edu.wpi.first.units.Units.Seconds;
-
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -75,12 +73,7 @@ public void disabledInit() {
   }
 
   @Override
-  public void disabledPeriodic() {
-    if (disabledTimer.hasElapsed(Constants.DrivebaseConstants.WHEEL_LOCK_TIME.in(Seconds))) {
-      m_robotContainer.setMotorBrake(false);
-      disabledTimer.stop();
-    }
-  }
+  public void disabledPeriodic() {}
 
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -6,9 +6,6 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -73,13 +70,7 @@ public RobotContainer() {
    */
   private void configureBindings() {
     driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro)));
-    driverXbox
-        .b()
-        .whileTrue(
-            Commands.deferredProxy(
-                () ->
-                    drivebase.driveToPose(
-                        new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0)))));
+    driverXbox.b().onTrue(Commands.none());
     driverXbox.start().whileTrue(Commands.none());
     driverXbox.back().whileTrue(Commands.none());
     driverXbox.leftBumper().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly());