delete extra poseManager stuff

SFUnity · Sep 21, 2024 · b2384ff · b2384ff
1 parent fb22926
commit b2384ff
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Showing 3 changed files with 5 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -21,7 +21,6 @@
 import frc.robot.util.Alert.AlertType;
 import frc.robot.util.loggedShuffleboardClasses.LoggedShuffleboardChooser;
 
-
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -48,7 +47,8 @@ public RobotContainer() {
 
     // Set up auto routines
 
-    autoChooser = new LoggedShuffleboardChooser<>("Auto Choices", "Driver", AutoBuilder.buildAutoChooser());
+    autoChooser =
+        new LoggedShuffleboardChooser<>("Auto Choices", "Driver", AutoBuilder.buildAutoChooser());
 
     // Configure the button bindings
     configureButtonBindings();

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -8,5 +8,6 @@ public final class DriveConstants {
   public static final int leftMotorID = 0;
 
   // TODO: FAKE change trackwidth later
-  public static final DifferentialDriveKinematics kinematics = new DifferentialDriveKinematics(0.508);
+  public static final DifferentialDriveKinematics kinematics =
+      new DifferentialDriveKinematics(0.508);
 }
diff --git a/src/main/java/frc/robot/util/PoseManager.java b/src/main/java/frc/robot/util/PoseManager.java
@@ -7,20 +7,13 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.geometry.Twist2d;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import frc.robot.subsystems.drive.DriveConstants;
 import org.littletonrobotics.junction.AutoLogOutput;
 
 public class PoseManager {
-  private SwerveModulePosition[] lastModulePositions = // For reseting pose
-      new SwerveModulePosition[] {
-        new SwerveModulePosition(),
-        new SwerveModulePosition(),
-        new SwerveModulePosition(),
-        new SwerveModulePosition()
-      };
+
   private Rotation2d lastGyroAngle = new Rotation2d();
   private Twist2d robotVelocity = new Twist2d();
   private double lastYawVelocity = 0.0;