Revert "Swerve simple trajectory update (#485)"

This reverts commit 8ae3bcb.
Team488 · Jan 18, 2025 · 68cb567 · 68cb567
1 parent c599c33
commit 68cb567
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Showing 11 changed files with 39 additions and 694 deletions.
diff --git a/src/main/java/xbot/common/subsystems/drive/SwerveCalculatorNode.java b/src/main/java/xbot/common/subsystems/drive/SwerveCalculatorNode.java
diff --git a/src/main/java/xbot/common/subsystems/drive/SwerveKinematicsCalculator.java b/src/main/java/xbot/common/subsystems/drive/SwerveKinematicsCalculator.java
diff --git a/src/main/java/xbot/common/subsystems/drive/SwervePointKinematics.java b/src/main/java/xbot/common/subsystems/drive/SwervePointKinematics.java
diff --git a/src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryCommand.java b/src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryCommand.java
@@ -2,7 +2,6 @@
 
 import edu.wpi.first.math.geometry.Twist2d;
 import xbot.common.command.BaseCommand;
-import xbot.common.logging.RobotAssertionManager;
 import xbot.common.math.XYPair;
 import xbot.common.properties.PropertyFactory;
 import xbot.common.subsystems.drive.control_logic.HeadingModule;
@@ -25,14 +24,14 @@ public class SwerveSimpleTrajectoryCommand extends BaseCommand {
 
     @Inject
     public SwerveSimpleTrajectoryCommand(BaseSwerveDriveSubsystem drive, BasePoseSubsystem pose, PropertyFactory pf,
-                                         HeadingModuleFactory headingModuleFactory, RobotAssertionManager assertionManager) {
+                                         HeadingModuleFactory headingModuleFactory) {
         this.drive = drive;
         this.pose = pose;
         headingModule = headingModuleFactory.create(drive.getRotateToHeadingPid());
 
         pf.setPrefix(this);
         this.addRequirements(drive);
-        logic = new SwerveSimpleTrajectoryLogic(assertionManager);
+        logic = new SwerveSimpleTrajectoryLogic();
         alternativeIsFinishedSupplier = () -> false;
     }
 

diff --git a/src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryMode.java b/src/main/java/xbot/common/subsystems/drive/SwerveSimpleTrajectoryMode.java
diff --git a/src/main/java/xbot/common/subsystems/pose/BasePoseSubsystem.java b/src/main/java/xbot/common/subsystems/pose/BasePoseSubsystem.java
@@ -333,7 +333,6 @@ public void periodic() {
             isNavXReady = true;
         }   
         updatePose();
-        aKitLog.record("Heading", currentHeading.getDegrees());
     }
 
     @Override

diff --git a/src/main/java/xbot/common/trajectory/ProvidesInterpolationData.java b/src/main/java/xbot/common/trajectory/ProvidesInterpolationData.java
@@ -2,14 +2,11 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
-import xbot.common.subsystems.drive.SwervePointKinematics;
 
 public interface ProvidesInterpolationData {
     public Translation2d getTranslation2d();
 
     public double getSecondsForSegment();
 
     public Rotation2d getRotation2d();
-
-    public SwervePointKinematics getKinematics();
 }