remove unused constant

team4909 · Apr 17, 2024 · d7a3135 · d7a3135
1 parent 3a82602
commit d7a3135
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -233,6 +233,12 @@ public Robot() {
         .and(m_drivetrain.inRangeOfGoal.negate())
         .whileTrue(Superstructure.feedShotHigh(m_drivetrain, m_shooter, m_arm, m_lights))
         .onFalse(m_arm.goToSetpoint(ArmSetpoints.kStowed));
+    m_driverController
+        .leftTrigger()
+        .and(m_driverController.a())
+        .and(m_drivetrain.inRangeOfGoal.negate())
+        .whileTrue(Superstructure.feedShotLow(m_drivetrain, m_shooter, m_arm, m_lights))
+        .onFalse(m_arm.goToSetpoint(ArmSetpoints.kStowed));
 
     m_driverController.start().onTrue(m_drivetrain.zeroGyro());
     m_operatorController

diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
@@ -28,7 +28,6 @@ public class Arm extends SubsystemBase {
 
   public static final double kCatchWristAngleRad = 2.264 - Units.degreesToRadians(5.0);
   public static final double kSubwooferWristAngleRad = 2.083;
-  public static final double kDeployGizmoAngleRad = Units.degreesToRadians(80.0);
   private final double kJointTolerenceDegrees = 2.0;
 
   private final ArmIO m_io;