remove talonutil for now

TitaniumTigers4829 · Aug 20, 2024 · 855010b · 855010b
1 parent 530330c
commit 855010b
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Showing 2 changed files with 6 additions and 100 deletions.
diff --git a/src/main/java/frc/robot/extras/TalonUtil.java b/src/main/java/frc/robot/extras/TalonUtil.java
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -16,7 +16,6 @@
 import frc.robot.Constants.HardwareConstants;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.extras.SmarterDashboardRegistry;
-import frc.robot.extras.TalonUtil;
 
 public class ShooterSubsystem extends SubsystemBase {
   private final TalonFX leaderFlywheel;
@@ -59,11 +58,8 @@ public ShooterSubsystem() {
 
   private void configureTalons() throws RuntimeException {
     TalonFXConfiguration shooterConfig = new TalonFXConfiguration();
-    TalonUtil.checkErrorAndRetry(
-        () -> leaderFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
-    TalonUtil.checkErrorAndRetry(
-        () ->
-            followerFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
+    leaderFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S);
+    followerFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S);
 
     shooterConfig.Slot0.kP = ShooterConstants.SHOOT_P;
     shooterConfig.Slot0.kI = ShooterConstants.SHOOT_I;
@@ -80,19 +76,16 @@ private void configureTalons() throws RuntimeException {
     shooterConfig.CurrentLimits.SupplyCurrentLimit = ShooterConstants.SHOOTER_SUPPLY_LIMIT;
     shooterConfig.CurrentLimits.SupplyCurrentLimitEnable = ShooterConstants.SHOOTER_SUPPLY_ENABLE;
 
-    TalonUtil.applyAndCheckConfiguration(
-        leaderFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
+    leaderFlywheel.getConfigurator().apply(shooterConfig, HardwareConstants.TIMEOUT_S);
     shooterConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    TalonUtil.applyAndCheckConfiguration(
-        followerFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
+    followerFlywheel.getConfigurator().apply(shooterConfig, HardwareConstants.TIMEOUT_S);
 
     TalonFXConfiguration rollerConfig = new TalonFXConfiguration();
-    TalonUtil.checkErrorAndRetry(
-        () -> leaderFlywheel.getConfigurator().refresh(rollerConfig, HardwareConstants.TIMEOUT_S));
+    rollerMotor.getConfigurator().refresh(rollerConfig, HardwareConstants.TIMEOUT_S);
 
     rollerConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     rollerConfig.MotorOutput.DutyCycleNeutralDeadband = HardwareConstants.MIN_FALCON_DEADBAND;
-    TalonUtil.applyAndCheckConfiguration(rollerMotor, rollerConfig, HardwareConstants.TIMEOUT_S);
+    rollerMotor.getConfigurator().apply(rollerConfig, HardwareConstants.TIMEOUT_S);
   }
 
   /**