From 359611677e03458141fad0c77632c67f606718ba Mon Sep 17 00:00:00 2001 From: Noland Date: Tue, 28 Nov 2023 18:42:49 -0800 Subject: [PATCH] Not much after a ton of changes Same as before but got rid of unnecessary import in WristCommand --- .../java/frc/robot/Commands/WristCommand.java | 6 ------ src/main/java/frc/robot/Constants.java | 15 ++++++++------- .../java/frc/robot/subsystems/WristSubsystem.java | 1 + 3 files changed, 9 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/Commands/WristCommand.java b/src/main/java/frc/robot/Commands/WristCommand.java index ab24cac..39874df 100644 --- a/src/main/java/frc/robot/Commands/WristCommand.java +++ b/src/main/java/frc/robot/Commands/WristCommand.java @@ -4,14 +4,8 @@ package frc.robot.commands; - - -import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.WristSubsystem; - import java.util.function.DoubleSupplier; - - import edu.wpi.first.wpilibj2.command.CommandBase; diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c884900..972c3a0 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -28,11 +28,12 @@ public static class Elevator{ public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI; } -public static class Wrist{ - /**the gear ratio of the motor to the final gear revolutions */ - public static final double GEAR_RATIO = 0.02585856914; - /**The number of ticks per motor revolution */ - public static final double TICKS_PER_REVOLUTION = 2048; - /**The gear circumferance for distance */ - public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI; + public static class Wrist{ + /**the gear ratio of the motor to the final gear revolutions */ + public static final double GEAR_RATIO = 0.02585856914; + /**The number of ticks per motor revolution */ + public static final double TICKS_PER_REVOLUTION = 2048; + /**The gear circumferance for distance */ + public static final double GEAR_CIRCUMFERENCE = 1.432*Math.PI; +} } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/WristSubsystem.java b/src/main/java/frc/robot/subsystems/WristSubsystem.java index a3ded73..d91a459 100644 --- a/src/main/java/frc/robot/subsystems/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/WristSubsystem.java @@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.Wrist; public class WristSubsystem extends SubsystemBase {