More code cleanup

lasarobotics · Feb 9, 2025 · b141217 · b141217
1 parent 92fe7c0
commit b141217
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Showing 3 changed files with 9 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/HeadHoncho.java b/src/main/java/frc/robot/HeadHoncho.java
@@ -14,8 +14,6 @@
 import frc.robot.subsystems.lift.LiftSubsystem.TargetLiftStates;
 
 public class HeadHoncho extends StateMachine implements AutoCloseable {
-  public static record Hardware() {}
-
   public enum State implements SystemState {
     REST {
       @Override
@@ -249,18 +247,17 @@ public void end(boolean interrupted) {
   private static BooleanSupplier s_cancelButton;
 
   public HeadHoncho(
-    Hardware hardware,
-    DriveSubsystem drive_subsystem,
-    IntakeSubsystem intake_subsystem,
-    LiftSubsystem lift_subsystem,
-    EndEffectorSubsystem end_effector_subsystem
+    DriveSubsystem driveSubsystem,
+    IntakeSubsystem intakeSubsystem,
+    LiftSubsystem liftSubsystem,
+    EndEffectorSubsystem endEffectorSubsystem
   ) {
     super(State.REST);
 
-    DRIVE_SUBSYSTEM = drive_subsystem;
-    INTAKE_SUBSYSTEM = intake_subsystem;
-    LIFT_SUBSYSTEM = lift_subsystem;
-    END_EFFECTOR_SUBSYSTEM = end_effector_subsystem;
+    DRIVE_SUBSYSTEM = driveSubsystem;
+    INTAKE_SUBSYSTEM = intakeSubsystem;
+    LIFT_SUBSYSTEM = liftSubsystem;
+    END_EFFECTOR_SUBSYSTEM = endEffectorSubsystem;
   }
 
   public void bindControls(
@@ -289,10 +286,6 @@ public void bindControls(
     DRIVE_SUBSYSTEM.bindControls(driveRequest, strafeRequest, rotateRequest);
   }
 
-  public static Hardware initializeHardware() {
-    return new Hardware();
-  }
-
   @Override
   public void periodic() {
     super.periodic();

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -22,7 +22,7 @@ public class RobotContainer {
   private final LiftSubsystem LIFT_SUBSYSTEM = LiftSubsystem.getInstance(LiftSubsystem.initializeHardware());
   private final IntakeSubsystem INTAKE_SUBSYSTEM = IntakeSubsystem.getInstance(IntakeSubsystem.initializeHardware());
   private final EndEffectorSubsystem END_EFFECTOR_SUBSYSTEM = EndEffectorSubsystem.getInstance(EndEffectorSubsystem.initializeHardware());
-  private final HeadHoncho HEAD_HONCHO = new HeadHoncho(HeadHoncho.initializeHardware(), DRIVE_SUBSYSTEM, INTAKE_SUBSYSTEM, LIFT_SUBSYSTEM, END_EFFECTOR_SUBSYSTEM);
+  private final HeadHoncho HEAD_HONCHO = new HeadHoncho(DRIVE_SUBSYSTEM, INTAKE_SUBSYSTEM, LIFT_SUBSYSTEM, END_EFFECTOR_SUBSYSTEM);
 
   public RobotContainer() {
     configureBindings();

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drivetrain/DriveSubsystem.java
@@ -286,7 +286,6 @@ private Pose2d findAutoAlignTarget() {
 
   /**
    * Initialize hardware devices for drive subsystem
-   *
    * @return Hardware object containing all necessary devices for this subsystem
    */
   public static Hardware initializeHardware() {
-Original file line number
+Diff line change
@@ Expand Up / @@ -286,7 +286,6 @@ private Pose2d findAutoAlignTarget() { @@
       /**
        * Initialize hardware devices for drive subsystem
-       *
        * @return Hardware object containing all necessary devices for this subsystem
        */
       public static Hardware initializeHardware() {
@@ Expand Down @@