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removed tilt and roller subsystems #110

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removed tilt and roller subsystems #110

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e730cf2
removed tilt and roller subsystems
JAMthepersonj Mar 11, 2026
451f255
removed constants
JAMthepersonj Mar 11, 2026
848dda2
Removed robot visualizer
JAMthepersonj Mar 11, 2026
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12 changes: 0 additions & 12 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -103,7 +103,6 @@ public class RobotContainer {
// Instantiate the autochooser.
private final AutoChooser autoChooser;
// The robot's subsystems and commands are defined here...
// private final TiltSubsystem tiltSubsystem;
private final CommandXboxController controller =
new CommandXboxController(Constants.XBOX_CONTROLLER_PORT);
private final ClimberSubsystem climberSubsystem;
Expand Down Expand Up @@ -141,33 +140,25 @@ public RobotContainer() {
// Configure the trigger bindings
switch (Constants.currentMode) {
case REAL -> {
// rollerSubsystem = new RollerSubsystem(RollerSubsystem.createRealIo());
// tiltSubsystem = new TiltSubsystem(TiltSubsystem.createRealIo());
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createRealIo());
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createRealIo());
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createRealIo());
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createRealIo());
turretSubsystem = new TurretSubsystem(TurretSubsystem.createRealIo());



climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createRealIo());
feederSubsystem = new FeederSubsystem(FeederSubsystem.createRealIo());
shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createRealIo());
RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo();
ThreadedGyro threadedGyro = gyroIo.getThreadedGyro();
gyroSubsystem = new GyroSubsystem(gyroIo);
SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro);

drivebase = !Constants.TESTBED ? new SwerveSubsystem(
new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), swerveIMU) : null;
apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null;
controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase, this) : null;

}
case REPLAY -> {
// rollerSubsystem = new RollerSubsystem(RollerSubsystem.createMockIo());
// tiltSubsystem = new TiltSubsystem(TiltSubsystem.createMockIo());
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createMockIo());
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createMockIo());
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createMockIo());
Expand All @@ -185,9 +176,6 @@ public RobotContainer() {
}
case SIM -> {
robotVisualizer = new RobotVisualizer();
//rollerSubsystem = new// RollerSubsystem(RollerSubsystem.createSimIo(robotVisualizer));
// tiltSubsystem = new
// TiltSubsystem(TiltSubsystem.createSimIo(robotVisualizer));
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createSimIo(robotVisualizer));
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createSimIo(robotVisualizer));
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createSimIo(robotVisualizer));
Expand Down
41 changes: 0 additions & 41 deletions src/main/java/frc/robot/commands/roller/SpinRoller.java
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38 changes: 0 additions & 38 deletions src/main/java/frc/robot/commands/tilt/TiltDown.java
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39 changes: 0 additions & 39 deletions src/main/java/frc/robot/commands/tilt/TiltUp.java
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2 changes: 0 additions & 2 deletions src/main/java/frc/robot/constants/ConstantsPushbot2026.java
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Expand Up @@ -4,8 +4,6 @@ public class ConstantsPushbot2026 extends GameConstants {

// ConstantsPushbot2026 is only for CANIDs and nothing else, everything else goes into GameConstants.

public static final int ROLLER_MOTOR_ID = 99; // fake id for example subsytem to prevent crashes
public static final int TILT_MOTOR_ID = 98; // fake id for example subsytem to prevent crashes
public static final int INTAKE_MOTOR_ID = 4;
public static final int ANGLER_MOTOR_ID = 52;
public static final int HOPPER_MOTOR_ID = 3;
Expand Down
2 changes: 0 additions & 2 deletions src/main/java/frc/robot/constants/ConstantsReal2026.java
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Expand Up @@ -10,8 +10,6 @@ public class ConstantsReal2026 extends GameConstants {
public static final int ANGLER_MOTOR_ID = 52;

// other CAN-ID's
public static final int ROLLER_MOTOR_ID = 99; //remove
public static final int TILT_MOTOR_ID = 98; //remove
public static final int TURRET_MOTOR_ID = 19;
public static final int FEEDER_MOTOR_ID = 10;
public static final int HOPPER_MOTOR_ID = 3;
Expand Down
10 changes: 0 additions & 10 deletions src/main/java/frc/robot/constants/GameConstants.java
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Expand Up @@ -45,8 +45,6 @@ public enum Mode {
public static final int XBOX_CONTROLLER_PORT = 2;

//Speeds
public static final double ROLLER_SPEED = 0.25;
public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed
public static final double INTAKE_SPEED = -0.5;
public static final double HOPPER_SPEED = 0.35;//Want to increase this later
public static final double CLIMBER_SPEED_UP = 0.1;
Expand All @@ -72,8 +70,6 @@ public enum Mode {
public static final double ANGLER_DIAGS_ENCODER = 1;

//Timeouts
public static final double SPIN_TIMEOUT = 5;
public static final double TILT_TIMEOUT = 5;
public static final double HOPPER_TIMEOUT = 60;
public static final double CLIMBER_TIMEOUT = 10;
public static final double FEEDER_TIMEOUT = 60;
Expand All @@ -84,15 +80,9 @@ public enum Mode {
public static final double TURRET_TIMEOUT = 5;

//Angles
public static final Rotation2d TILT_MIN_ANGLE = Rotation2d.fromDegrees(45);
public static final Rotation2d TILT_MAX_ANGLE = Rotation2d.fromDegrees(90);
public static final Rotation2d ANGLER_MIN_ANGLE = Rotation2d.fromDegrees(45);
public static final Rotation2d ANGLER_MAX_ANGLE = Rotation2d.fromDegrees(90);

public static final double TILT_LENGTH = 0.2;
public static final double TILT_INERTIA = 0.5;
public static final double TILT_GEARING = 45.0;
public static final boolean TILT_SIMULATE_GRAVITY = false;
public static final double ANGLER_LENGTH = 0.2;
public static final double ANGLER_INERTIA = 0.5;
public static final double ANGLER_GEARING = 45.0;
Expand Down
73 changes: 0 additions & 73 deletions src/main/java/frc/robot/subsystems/RollerSubsystem.java
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96 changes: 0 additions & 96 deletions src/main/java/frc/robot/subsystems/TiltSubsystem.java
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