remove align state manual in driveToPose / driveToPath

team401 · Apr 22, 2024 · b4fd04a · b4fd04a
1 parent 2a13c41
commit b4fd04a
Showing 1 changed file with 0 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java
@@ -550,8 +550,6 @@ public boolean atPathfindPose() {
     }
 
     public void driveToPose(Pose2d targetPose) {
-        this.setAlignState(AlignState.MANUAL);
-
         pathfindCommand = getPathfindCommand(targetPose);
         pathfindCommand.schedule();
     }
@@ -562,26 +560,16 @@ public void driveToPath(String pathName) {
         } else {
             lastCommandedPath = pathName;
         }
-        this.setAlignState(AlignState.MANUAL);
 
         PathPlannerPath path = PathPlannerPath.fromPathFile(pathName);
 
-        // if(DriverStation.getAlliance() === Alliance.Blue) {
-        //     path.flipPath();
-        // }
-
         PathConstraints constraints =
                 new PathConstraints(
                         3.0,
                         4.0,
                         Constants.ConversionConstants.kDegreesToRadians * 540,
                         Constants.ConversionConstants.kDegreesToRadians * 720);
 
-        PathPlannerLogging.setLogTargetPoseCallback(
-                (target) -> {
-                    Logger.recordOutput("targetPose", target);
-                });
-
         pathfindCommand = AutoBuilder.pathfindThenFollowPath(path, constraints, 0.0);
         pathfindCommand.schedule();
     }