Removed unneeded driver binds

Simbotics · Jan 4, 2024 · fc8f5c3 · fc8f5c3
1 parent e391c3c
commit fc8f5c3
Showing 1 changed file with 1 addition and 21 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -28,18 +28,14 @@ private class Controller {
             .withDeadband(DriveConstants.kMaxAngularRate * 0.1).withRotationalDeadband(DriveConstants.kMaxAngularRate * 0.1)
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
 
-    private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
-    private final SwerveRequest.RobotCentric forwardStraight = new SwerveRequest.RobotCentric()
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
-    private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
-
     /* Path follower */
     private Command runAuto = drivetrain.getAutoPath("Tests");
 
     private final Telemetry logger = new Telemetry(DriveConstants.kMaxSpeed);
 
     private void configureBindings() {
         ledSubsystem.setDefaultCommand(new InstantCommand(() -> ledSubsystem.periodic(), ledSubsystem));
+        drivetrain.registerTelemetry(logger::telemeterize);
 
         drivetrain.setDefaultCommand(
                 drivetrain
@@ -55,22 +51,6 @@ private void configureBindings() {
                                                                           // (left)
                         )
                         .ignoringDisable(true));
-
-        Controller.driver.greenButton().whileTrue(drivetrain.applyRequest(() -> brake));
-        Controller.driver
-                .yellowButton()
-                .whileTrue(
-                        drivetrain.applyRequest(
-                                () -> point.withModuleDirection(
-                                        new Rotation2d(-Controller.driver.getLeftY(), -Controller.driver.getLeftX()))));
-
-        drivetrain.registerTelemetry(logger::telemeterize);
-        Controller.driver.POVUp()
-                .whileTrue(
-                        drivetrain.applyRequest(() -> forwardStraight.withVelocityX(0.5).withVelocityY(0)));
-        Controller.driver.POVDown()
-                .whileTrue(
-                        drivetrain.applyRequest(() -> forwardStraight.withVelocityX(-0.5).withVelocityY(0)));
     }
 
     public RobotContainer() {