From b4fd04ac6f600fdaeb3759148a262db93ec0bcbd Mon Sep 17 00:00:00 2001
From: Jack Lingle <captainjack0818@gmail.com>
Date: Mon, 22 Apr 2024 18:05:21 -0400
Subject: [PATCH] remove align state manual in driveToPose / driveToPath

---
 .../subsystems/drive/CommandSwerveDrivetrain.java    | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java
index c9c8f56..69101b3 100644
--- 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();
     }
@@ -562,14 +560,9 @@ 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,
@@ -577,11 +570,6 @@ public void driveToPath(String pathName) {
                         Constants.ConversionConstants.kDegreesToRadians * 540,
                         Constants.ConversionConstants.kDegreesToRadians * 720);
 
-        PathPlannerLogging.setLogTargetPoseCallback(
-                (target) -> {
-                    Logger.recordOutput("targetPose", target);
-                });
-
         pathfindCommand = AutoBuilder.pathfindThenFollowPath(path, constraints, 0.0);
         pathfindCommand.schedule();
     }