removed comments, disable always use vision

TitaniumTitans · Jul 31, 2024 · 39b0353 · 39b0353
1 parent 10f83db
commit 39b0353
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
@@ -333,10 +333,11 @@ public void periodic() {
         module.stop();
       }
     }
+
     // Log empty setpoint states when disabled
     if (DriverStation.isDisabled()) {
-//      Logger.recordOutput("SwerveStates/Setpoints");
-//      Logger.recordOutput("SwerveStates/SetpointsOptimized");
+      Logger.recordOutput("SwerveStates/Setpoints");
+      Logger.recordOutput("SwerveStates/SetpointsOptimized");
     }
 
     // Update odometry
@@ -348,7 +349,7 @@ public void periodic() {
           Units.inchesToMeters(6.0)) == 0.0)
           && (MathUtil.applyDeadband(kinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond,
           Units.degreesToRadians(7.5)) == 0.0))
-          || !DriverStation.isAutonomousEnabled() || true) {
+          || !DriverStation.isAutonomousEnabled()) {
 
         camera.getPose(m_wpiPoseEstimator.getEstimatedPosition()).ifPresent(
             (PoseEstimator.TimestampedVisionUpdate pose) ->

diff --git a/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/module/ModuleIOTalonFX.java
@@ -245,9 +245,6 @@ public void setDriveVelocityMPS(double mps) {
     double rps = (mps / m_moduleConstants.WHEEL_CURCUMFERENCE_METERS()) * m_moduleConstants.DRIVE_GEAR_RATIO();
     VelocityVoltage velRequest = new VelocityVoltage(rps).withSlot(0).withEnableFOC(false);
     m_driveTalon.setControl(velRequest.withVelocity(rps));
-
-//    double output = mps / Constants.DriveConstants.MAX_LINEAR_SPEED;
-//    m_driveTalon.setVoltage(output * 12.0);
   }
 
   @Override