Fix drive command

StuyPulse · Jan 12, 2024 · 63f08ce · 63f08ce
1 parent 6f48640
commit 63f08ce
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Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -33,7 +33,7 @@ public class RobotContainer {
 
     // Subsystem
     public final AbstractDrivetrain drivetrain = AbstractDrivetrain.getInstance();
-    public final Launcher launcher = Launcher.getInstance();
+    // public final Launcher launcher = Launcher.getInstance();
     //public final AbstractOdometry odometry = AbstractOdometry.getInstance();
     //public final AbstractVision vision = AbstractVision.getInstance();
 
@@ -54,7 +54,6 @@ public RobotContainer() {
 
     private void configureDefaultCommands() {
         drivetrain.setDefaultCommand(new DrivetrainDrive(driver));
-        //drivetrain.setDefaultCommand(new DriveDrive(drivetrain, driver));
     }
 
     /***************/

diff --git a/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java b/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
@@ -9,7 +9,6 @@
 
 public class DrivetrainDrive extends Command {
     public final AbstractDrivetrain drivetrain;
-    private final Gamepad driver;
 
     double rightSpeed;
     double leftSpeed;
@@ -19,7 +18,6 @@ public class DrivetrainDrive extends Command {
 
     public DrivetrainDrive(Gamepad driver) {
         this.drivetrain = AbstractDrivetrain.getInstance();
-        this.driver = driver;
 
         this.speed = IStream.create(
             () -> driver.getRightY() - driver.getLeftY())
@@ -41,8 +39,6 @@ public DrivetrainDrive(Gamepad driver) {
 
     @Override
     public void execute() {
-        if (driver.getRawLeftButton() || driver.getRawRightButton()) {
-            drivetrain.arcadeDrive(speed.get(), angle.get());
-        }  
+        drivetrain.arcadeDrive(speed.get(), angle.get());
     }
 }