More cleanups

RobotCasserole1736 · Mar 21, 2024 · db8e5a3 · db8e5a3
1 parent c3836fa
commit db8e5a3
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Showing 5 changed files with 11 additions and 25 deletions.
diff --git a/Autonomous/commands/ampShootCommand.py b/Autonomous/commands/ampShootCommand.py
@@ -1,22 +1,20 @@
 from AutoSequencerV2.command import Command
-from singerMovement.carriageControl import CarriageControl, CarriageControlCmd
 from pieceHandling.gamepieceHandling import GamePieceHandling
 
 class EjectCommand(Command):
     def __init__(self):
-        self.carriageControl = CarriageControl() 
-        self.gamePieceHandling = GamePieceHandling()   
+        pass
 
     def execute(self):
         #self.carriageControl.setPositionCmd(CarriageControlCmd.AMP)
 
-        self.gamePieceHandling.setInput(
+        GamePieceHandling().setInput(
             True,
             False,
             False,
             False
         )
 
     def isDone(self):
-        return False
-        #return if we're done. Which should be never? It should be controlled by other things
+        # return if we're done. Which should be never? It should be controlled by other things
+        return False
diff --git a/Autonomous/commands/intakeCommand.py b/Autonomous/commands/intakeCommand.py
@@ -4,23 +4,23 @@
 
 class IntakeCommand(Command):
     def __init__(self):
-        self.gamePieceHandling = GamePieceHandling()
+        pass
 
     def initialize(self):
         self.startTime = Timer.getFPGATimestamp()
 
     def execute(self):
         # Intake
-        self.gamePieceHandling.setInput(
+        GamePieceHandling().setInput(
             False,
             True,
             False,
             False
         )
 
     def isDone(self):
-        return Timer.getFPGATimestamp() - self.startTime >= 5 or self.gamePieceHandling.getNoteInPlace()
+        return Timer.getFPGATimestamp() - self.startTime >= 5 or GamePieceHandling().getNoteInPlace()
 
     def end(self,interrupt):
-        self.gamePieceHandling.setInput(False,False,False,False)
-        self.gamePieceHandling.update()
+        GamePieceHandling().setInput(False,False,False,False)
+        GamePieceHandling().update()
diff --git a/Autonomous/commands/retractCommand.py b/Autonomous/commands/retractCommand.py
@@ -4,18 +4,17 @@
 
 class RetractCommand(Command):
     def __init__(self):
-        self.gamePieceHandling = GamePieceHandling()
         self.duration = 0.4
 
     def initialize(self):
         self.startTime = Timer.getFPGATimestamp()
 
     def execute(self):
         # Feedback a little to allow the shooter to work
-        self.gamePieceHandling.feedBackSlow(True)
+        GamePieceHandling().feedBackSlow(True)
 
     def isDone(self):
         return (Timer.getFPGATimestamp() - self.startTime) >= self.duration
 
     def end(self,interrupt):
-        self.gamePieceHandling.setInput(False,False,False,False)
+        GamePieceHandling().setInput(False,False,False,False)
diff --git a/dashboard.py b/dashboard.py
@@ -1,6 +1,5 @@
 import wpilib
 import cscore as cs
-from cscore import CameraServer
 from AutoSequencerV2.autoSequencer import AutoSequencer
 from dashboardWidgets.autoChooser import AutoChooser
 from dashboardWidgets.swerveState import SwerveState
@@ -17,23 +16,19 @@
 
 class Dashboard:
     def __init__(self):
-
         webServer = Webserver()
-
         webServer.addDashboardWidget(Icon(45, 45, "/SmartDashboard/isRedIconState", "#FF0000", "allianceRed"))
         webServer.addDashboardWidget(Icon(55, 45, "/SmartDashboard/isBlueIconState", "#0000FF", "allianceBlue"))
         webServer.addDashboardWidget(Icon(45, 55, "/SmartDashboard/PE Vision Targets Seen", "#00FF00", "vision"))
         webServer.addDashboardWidget(Icon(55, 55, "/SmartDashboard/faultIconState", "#FF2200", "warning"))
         webServer.addDashboardWidget(Icon(45, 65, "/SmartDashboard/GamepieceIconState", "#00FF00", "newIntakeimg"))
         webServer.addDashboardWidget(Icon(55, 65, "/SmartDashboard/AutoAlignIconState", "#0000FF", "autoAlign"))
 
-
         leftCamera = cs.UsbCamera("LEFT_CAM", 0)
         cs.CameraServer.startAutomaticCapture(0)
         cs.CameraServer.getVideo(leftCamera)
         leftCamera.setPath("http://roborio-1736-frc.local:1181")
         webServer.addDashboardWidget(Camera(75, 60, "http://roborio-1736-frc.local:1181/stream.mjpg"))
-
 
         webServer.addDashboardWidget(
             CircularGauge(10, 55, "/SmartDashboard/ShooterGaugeSpeed", 0, 4700, 0, 4700))
@@ -65,9 +60,6 @@ def update(self):
             Icon.kON if wpilib.DriverStation.getAlliance() == wpilib.DriverStation.Alliance.kBlue 
             else Icon.kOFF)
         log("faultIconState", Icon.kBLINK_FAST if FaultWrangler().hasActiveFaults() else Icon.kOFF)
-
         log("GamepieceIconState", Icon.kON if OperatorInterface().getSingerIntakeCmd() else Icon.kOFF)
-
         log("AutoAlignIconState", Icon.kON if OperatorInterface().getSpeakerAutoAlignCmd() else Icon.kOFF)
-
         log("ShooterGaugeSpeed", GamePieceHandling().getShooterMotorSpeed())
diff --git a/robot.py b/robot.py
@@ -1,6 +1,5 @@
 import sys
 import wpilib
-import cscore as cs
 from dashboard import Dashboard
 from drivetrain.controlStrategies.autoDrive import AutoDrive
 from drivetrain.controlStrategies.trajectory import Trajectory
@@ -23,8 +22,6 @@
 from AutoSequencerV2.autoSequencer import AutoSequencer
 # from climbControl.climberControl import ClimberControl
 from utils.powerMonitor import PowerMonitor
-#from drivetrain.drivetrainPhysical import WHEEL_GEAR_RATIO
-
 
 class MyRobot(wpilib.TimedRobot):
     #########################################################