Fixed some sonarlint stuff while I'm working

TitaniumTitans · Jan 20, 2024 · 96d2c5b · 96d2c5b
1 parent bbf9253
commit 96d2c5b
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Showing 2 changed files with 38 additions and 48 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -20,7 +20,6 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.FeedForwardCharacterization;
@@ -34,7 +33,6 @@
 import frc.robot.subsystems.shooter.ShooterIOPrototype;
 import frc.robot.subsystems.shooter.ShooterSubsystem;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
-import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -52,52 +50,43 @@ public class RobotContainer {
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
-  private final LoggedDashboardNumber flywheelSpeedInput =
-      new LoggedDashboardNumber("Flywheel Speed", 1500.0);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-      switch (Constants.currentMode) {
-          case REAL -> {
-              // Real robot, instantiate hardware IO implementations
-              m_driveSubsystem = new DriveSubsystem(
-                new GyroIOPigeon1(12, true),
-                  new ModuleIOTalonFX(Constants.DriveConstants.FL_MOD_CONSTANTS),
-                  new ModuleIOTalonFX(Constants.DriveConstants.FR_MOD_CONSTANTS),
-                  new ModuleIOTalonFX(Constants.DriveConstants.BL_MOD_CONSTANTS),
-                  new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS));
-              m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
-          }
-          case SIM -> {
-              // Sim robot, instantiate physics sim IO implementations
-              m_driveSubsystem =
-                new DriveSubsystem(
-                  new GyroIO() {
-                  },
-                  new ModuleIOSim(Constants.DriveConstants.FL_MOD_CONSTANTS),
-                  new ModuleIOSim(Constants.DriveConstants.FR_MOD_CONSTANTS),
-                  new ModuleIOSim(Constants.DriveConstants.BL_MOD_CONSTANTS),
-                  new ModuleIOSim(Constants.DriveConstants.BR_MOD_CONSTANTS));
-              m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
-          }
-          default -> {
-              // Replayed robot, disable IO implementations
-              m_driveSubsystem =
-                      new DriveSubsystem(
-                              new GyroIO() {
-                              },
-                              new ModuleIO() {
-                              },
-                              new ModuleIO() {
-                              },
-                              new ModuleIO() {
-                              },
-                              new ModuleIO() {
-                              });
-              m_shooter = new ShooterSubsystem(new ShooterIO() {
-              });
-          }
+    switch (Constants.currentMode) {
+      case REAL -> {
+        // Real robot, instantiate hardware IO implementations
+        m_driveSubsystem = new DriveSubsystem(
+            new GyroIOPigeon1(12, true),
+            new ModuleIOTalonFX(Constants.DriveConstants.FL_MOD_CONSTANTS),
+            new ModuleIOTalonFX(Constants.DriveConstants.FR_MOD_CONSTANTS),
+            new ModuleIOTalonFX(Constants.DriveConstants.BL_MOD_CONSTANTS),
+            new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS));
+        m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
       }
+      case SIM -> {
+        // Sim robot, instantiate physics sim IO implementations
+        m_driveSubsystem =
+        new DriveSubsystem(
+          new GyroIO() {},
+          new ModuleIOSim(Constants.DriveConstants.FL_MOD_CONSTANTS),
+          new ModuleIOSim(Constants.DriveConstants.FR_MOD_CONSTANTS),
+          new ModuleIOSim(Constants.DriveConstants.BL_MOD_CONSTANTS),
+          new ModuleIOSim(Constants.DriveConstants.BR_MOD_CONSTANTS));
+        m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
+      }
+      default -> {
+        // Replayed robot, disable IO implementations
+        m_driveSubsystem =
+        new DriveSubsystem(
+          new GyroIO() {},
+          new ModuleIO() {},
+          new ModuleIO() {},
+          new ModuleIO() {},
+          new ModuleIO() {});
+        m_shooter = new ShooterSubsystem(new ShooterIO() {});
+      }
+    }
 
     // Set up auto routines
     autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
@@ -106,7 +95,9 @@ public RobotContainer() {
     autoChooser.addOption(
         "Drive FF Characterization",
         new FeedForwardCharacterization(
-                m_driveSubsystem, m_driveSubsystem::runCharacterizationVolts, m_driveSubsystem::getCharacterizationVelocity));
+                m_driveSubsystem,
+                m_driveSubsystem::runCharacterizationVolts,
+                m_driveSubsystem::getCharacterizationVelocity));
 
     // Configure the button bindings
     configureButtonBindings();
@@ -146,6 +137,6 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return new InstantCommand();//autoChooser.get();
+    return autoChooser.get();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -5,8 +5,7 @@
 public interface ShooterIO {
 
     @AutoLog
-    public class ShooterIOInputs {
-
+    class ShooterIOInputs {
     }
     default void setMotorVoltageTL(double voltage) {}
     default void setMotorVoltageTR(double voltage) {}