From 39b03539551bc68932a441f94710ad66e4e2330a Mon Sep 17 00:00:00 2001
From: Logan Hollowood <98189655+GearBoxFox@users.noreply.github.com>
Date: Wed, 31 Jul 2024 18:05:34 -0400
Subject: [PATCH] removed comments, disable always use vision

---
 .../java/frc/robot/subsystems/drive/DriveSubsystem.java    | 7 ++++---
 .../frc/robot/subsystems/drive/module/ModuleIOTalonFX.java | 3 ---
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java
index 4847f40..199d04d 100644
--- 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
index 95305bf..3a3897b 100644
--- 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