Reverting the oopsy commit that is all Linux's fault

RobotCasserole1736 · Jan 15, 2024 · 6ff3ef2 · 6ff3ef2
1 parent 7aaf07c
commit 6ff3ef2
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Showing 3 changed files with 6 additions and 44 deletions.
diff --git a/AutoSequencerV2/autoSequencer.py b/AutoSequencerV2/autoSequencer.py
@@ -4,7 +4,6 @@
 from AutoSequencerV2.builtInModes.waitMode import WaitMode
 from AutoSequencerV2.sequentialCommandGroup import SequentialCommandGroup
 from utils.singleton import Singleton
-import AllianceTransformUtils 
 
 
 class AutoSequencer(metaclass=Singleton):
@@ -51,8 +50,6 @@ def initiaize(self):
         print("[Auto] Starting Sequencer")
         self.topLevelCmdGroup.initialize()
 
-
-
     def update(self):
         self.topLevelCmdGroup.execute()
 

diff --git a/robot.py b/robot.py
@@ -63,7 +63,6 @@ def robotPeriodic(self):
     #########################################################
     ## Autonomous-Specific init and update
     def autonomousInit(self):
-
         # Start up the autonomous sequencer
         self.autoSequencer.initiaize()
 

diff --git a/utils/allianceTransformUtils.py b/utils/allianceTransformUtils.py
@@ -15,46 +15,12 @@
 """
 class AllianceTransformUtils:
     @staticmethod
-    def transformX( self, input):
-
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            return 16.4592 - input
+    def transformX(in):
+        if DriverStation.getAlliance() == AllianceStationID.Red:
+            return Constants.FIELD_LENGTH_M - in
         else:
-            return input
+            return in
 
-    def transformY(self,input):
-        return input
-
-    def Rotation2d(self,input):
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            return Rotation2d.fromDegrees(180).minus(input)
-        else: 
-            return input 
+    def transformY(in):
+        return in
 
-    def Translation2d(self,input):
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            return Translation2d(AllianceTransformUtils.transformX(input.getX()), input.getY())
-        else:
-            return input
-
-    def Transform2d(self,input):
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            trans = AllianceTransformUtils.transform(input.getTranslation())
-            rot = AllianceTransformUtils.transform(input.getRotation())
-            return Transform2d(trans, rot)
-        else:
-            return input
-
-    def Pose2d(self,input):
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            trans = AllianceTransformUtils.transform(input.getTranslation())
-            rot = AllianceTransformUtils.transform(input.getRotation())
-            return Pose2d(trans, rot)
-        else:
-            return input
-
-    def transformChoreoTrajectoryState(self,input):
-        if wpilib._wpilib.DriverStation.Alliance == Alliance.kRed:
-            return input.flipped()
-        else:
-            return input