actually fix build

TitaniumTigers4829 · Oct 6, 2024 · 5b79e88 · 5b79e88
1 parent 6eb8b3a
commit 5b79e88
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diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -2,10 +2,6 @@
 
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
-import com.pathplanner.lib.path.PathConstraints;
-import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
-import com.pathplanner.lib.util.PIDConstants;
-import com.pathplanner.lib.util.ReplanningConfig;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
@@ -543,24 +539,11 @@ public static final class TrajectoryConstants {
     public static final double MAX_ANGULAR_SPEED_RADIANS_PER_SECOND = 2;
     public static final double MAX_ANGULAR_SPEED_RADIANS_PER_SECOND_SQUARED = 2;
 
-    public static final PIDConstants REALTIME_TRANSLATION_PID = new PIDConstants(0.5, 0, 0); // 0.2
-    public static final PIDConstants REALTIME_THETA_PID = new PIDConstants(15, 0, 0); // 0.1
-    public static final HolonomicPathFollowerConfig CONFIG =
-        new HolonomicPathFollowerConfig(
-            REALTIME_TRANSLATION_PID, REALTIME_THETA_PID, MAX_SPEED, 0.876, new ReplanningConfig());
-
     // Constraint for the motion profiled robot angle controller
     public static final TrapezoidProfile.Constraints THETA_CONTROLLER_CONSTRAINTS =
         new TrapezoidProfile.Constraints(
             MAX_ANGULAR_SPEED_RADIANS_PER_SECOND, MAX_ANGULAR_SPEED_RADIANS_PER_SECOND_SQUARED);
 
-    public static final PathConstraints PATH_CONSTRAINTS =
-        new PathConstraints(
-            MAX_SPEED,
-            MAX_ACCELERATION,
-            MAX_ANGULAR_SPEED_RADIANS_PER_SECOND,
-            MAX_ANGULAR_SPEED_RADIANS_PER_SECOND_SQUARED);
-
     public static final double X_TOLERANCE = 0.02;
     public static final double Y_TOLERANCE = 0.02;
     public static final double THETA_TOLERANCE = 1.25;

diff --git a/src/main/java/frc/robot/extras/LocalADStarAK.java b/src/main/java/frc/robot/extras/LocalADStarAK.java
diff --git a/src/main/java/frc/robot/subsystems/swerve/Drive.java b/src/main/java/frc/robot/subsystems/swerve/Drive.java
@@ -1,8 +1,5 @@
 package frc.robot.subsystems.swerve;
 
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.pathfinding.Pathfinding;
-import com.pathplanner.lib.util.PathPlannerLogging;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -18,7 +15,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.TrajectoryConstants;
-import frc.robot.extras.LocalADStarAK;
 import java.util.Optional;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
@@ -61,28 +57,6 @@ public Drive(
     // Start threads (no-op for each if no signals have been created)
     PhoenixOdometryThread.getInstance().start();
 
-    // Configure AutoBuilder for PathPlanner
-    AutoBuilder.configureHolonomic(
-        this::getPose,
-        this::setPose,
-        () -> DriveConstants.DRIVE_KINEMATICS.toChassisSpeeds(getModuleStates()),
-        this::runVelocity,
-        TrajectoryConstants.CONFIG,
-        () ->
-            DriverStation.getAlliance().isPresent()
-                && DriverStation.getAlliance().get() == Alliance.Red,
-        this);
-    Pathfinding.setPathfinder(new LocalADStarAK());
-    PathPlannerLogging.setLogActivePathCallback(
-        (activePath) -> {
-          Logger.recordOutput(
-              "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
-        });
-    PathPlannerLogging.setLogTargetPoseCallback(
-        (targetPose) -> {
-          Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
-        });
-
     alliance = DriverStation.getAlliance();
   }