removed tons of unused code

.claude/settings.local.json

@@ -30,7 +30,8 @@
       "Bash(JAVA_HOME=\"/c/Users/Public/wpilib/2026/jdk\" ./gradlew compileJava:*)",
       "Bash(set \"JAVA_HOME=C:\\\\Users\\\\Public\\\\wpilib\\\\2026\\\\jdk\")",
       "Bash(\"C:\\\\Users\\\\Public\\\\wpilib\\\\2026\\\\jdk\\\\bin\\\\java\" -version)",
-      "Bash(git show:*)"
+      "Bash(git show:*)",
+      "Bash(set:*)"
     ]
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -276,9 +276,7 @@ private void configureBindings() {
 
         // Right trigger: enter SHOOTING state. Superstructure coordinates flywheel spin-up,
         // waits for adequate RPM, then runs spindexer and feeders. On release, returns to IDLE.
-        controlBoard
-                .getWantShoot()
-                .whileTrue(ShooterFactory.shootWithTrackingCommand(superstructure, turretManager));
+        controlBoard.getWantShoot().whileTrue(ShooterFactory.setShootingCommand(superstructure));
 
         // Zone-based actions: automatically retract hood when entering trench zones
         configureTrenchZoneTrigger();

src/main/java/frc/robot/controlboard/ControlBoard.java

@@ -35,11 +35,6 @@ public double getRotation() {
         return driveControlBoard.getRotation();
     }
 
-    @Override
-    public double getRotationY() {
-        return driveControlBoard.getRotationY();
-    }
-
     @Override
     public Trigger resetGyro() {
         return driveControlBoard.resetGyro();
@@ -50,11 +45,6 @@ public Trigger getWantToXWheels() {
         return buttonControlBoard.getWantToXWheels();
     }
 
-    @Override
-    public Trigger getWantToAutoAlign() {
-        return buttonControlBoard.getWantToAutoAlign();
-    }
-
     @Override
     public Trigger getWantHubPathFind() {
         return driveControlBoard.getWantHubPathFind();

src/main/java/frc/robot/controlboard/GamepadButtonControlBoard.java

@@ -37,9 +37,4 @@ private GamepadButtonControlBoard() {
     public Trigger getWantToXWheels() {
         return controller.start().and(controller.back().negate());
     }
-
-    @Override
-    public Trigger getWantToAutoAlign() {
-        return controller.start();
-    }
 }

src/main/java/frc/robot/controlboard/GamepadDriveControlBoard.java

@@ -45,12 +45,6 @@ public double getRotation() {
                 * Math.signum(controller.getRightX());
     }
 
-    @Override
-    public double getRotationY() {
-        return -(Math.pow(Math.abs(controller.getRightY()), 2.0))
-                * Math.signum(controller.getRightY());
-    }
-
     @Override
     public Trigger resetGyro() {
         return controller.povRight().and(controller.start().negate());

src/main/java/frc/robot/controlboard/IButtonControlBoard.java

@@ -4,6 +4,4 @@
 
 public interface IButtonControlBoard {
     Trigger getWantToXWheels();
-
-    Trigger getWantToAutoAlign();
 }

src/main/java/frc/robot/controlboard/IDriveControlBoard.java

@@ -9,8 +9,6 @@ public interface IDriveControlBoard {
 
     double getRotation();
 
-    double getRotationY();
-
     Trigger resetGyro();
 
     Trigger getWantHubPathFind();

src/main/java/frc/robot/factories/IntakeFactory.java

@@ -28,31 +28,4 @@ public static Command setIntakingCommand(Superstructure superstructure) {
                         () -> superstructure.setGoal(Goal.IDLE))
                 .withName("setIntakingCommand");
     }
-
-    /**
-     * Command to set the superstructure to OUTTAKING state. Runs continuously - use with
-     * whileTrue() bindings. Returns to IDLE when interrupted.
-     *
-     * @param superstructure The superstructure subsystem
-     * @return Command that maintains OUTTAKING state while running
-     */
-    public static Command setOuttakingCommand(Superstructure superstructure) {
-        return superstructure
-                .startEnd(
-                        () -> superstructure.setGoal(Goal.OUTTAKING),
-                        () -> superstructure.setGoal(Goal.IDLE))
-                .withName("setOuttakingCommand");
-    }
-
-    /**
-     * Command to set the superstructure to IDLE state immediately.
-     *
-     * @param superstructure The superstructure subsystem
-     * @return Instant command that sets IDLE goal
-     */
-    public static Command setIdleCommand(Superstructure superstructure) {
-        return superstructure
-                .runOnce(() -> superstructure.setGoal(Goal.IDLE))
-                .withName("setIdleCommand");
-    }
 }

src/main/java/frc/robot/factories/ShooterFactory.java

@@ -1,8 +1,6 @@
 package frc.robot.factories;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.subsystems.shooter.TurretManager;
 import frc.robot.subsystems.superstructure.Superstructure;
 import frc.robot.subsystems.superstructure.Superstructure.Goal;
 
@@ -28,36 +26,4 @@ public static Command setShootingCommand(Superstructure superstructure) {
                         () -> superstructure.setGoal(Goal.IDLE))
                 .withName("setShootingCommand");
     }
-
-    /**
-     * Command to shoot while turrets track the hub. Returns to IDLE when interrupted.
-     *
-     * @param superstructure The superstructure subsystem
-     * @param turretManager The turret manager subsystem
-     * @return Command that shoots while tracking the hub
-     */
-    public static Command shootWithTrackingCommand(
-            Superstructure superstructure, TurretManager turretManager) {
-        return superstructure
-                .startEnd(
-                        () -> superstructure.setGoal(Goal.SHOOTING),
-                        () -> superstructure.setGoal(Goal.IDLE))
-                .withName("shootWithTrackingCommand");
-    }
-
-    /**
-     * Command to wait for turrets to aim and then shoot. Waits until turrets are aligned before
-     * starting to shoot. Use for autonomous sequences where precise aiming is required.
-     *
-     * @param superstructure The superstructure subsystem
-     * @param turretManager The turret manager subsystem
-     * @return Command that waits for aim then shoots
-     */
-    public static Command aimAndShootCommand(
-            Superstructure superstructure, TurretManager turretManager) {
-        return Commands.sequence(
-                        Commands.waitUntil(turretManager::areBothAtTarget),
-                        setShootingCommand(superstructure))
-                .withName("aimThenShootCommand");
-    }
 }

src/main/java/frc/robot/lib/subsystems/CanCoderIOHardware.java

@@ -8,7 +8,6 @@
 import com.ctre.phoenix6.hardware.CANcoder;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
-import frc.robot.lib.util.CANStatusLogger;
 import frc.robot.lib.util.CTREUtil;
 
 public class CanCoderIOHardware implements CanCoderIO {
@@ -32,13 +31,6 @@ public CanCoderIOHardware(CanCoderConfig config) {
         signals = new BaseStatusSignal[] {positionSignal, velocitySignal};
 
         BaseStatusSignal.setUpdateFrequencyForAll(100.0, signals);
-
-        CANStatusLogger.getInstance()
-                .registerCANcoder(
-                        "CANcoder_ID" + config.CANID.getDeviceNumber(),
-                        canCoder,
-                        config.CANID.getDeviceNumber(),
-                        config.CANID.getBus());
     }
 
     @Override

src/main/java/frc/robot/lib/util/CANStatusLogger.java

@@ -1,39 +1,10 @@
 package frc.robot.lib.util;
 
-import com.ctre.phoenix6.BaseStatusSignal;
-import com.ctre.phoenix6.StatusCode;
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.lib.drivers.CANDeviceId;
-import java.util.ArrayList;
-import java.util.List;
-import org.littletonrobotics.junction.Logger;
 
 public class CANStatusLogger {
     private static CANStatusLogger instance;
-    private final List<DeviceStatusInfo> devices = new ArrayList<>();
-
-    private static class DeviceStatusInfo {
-        private final String name;
-        private final TalonFX talon;
-        private final int deviceId;
-        private final String canBus;
-        private final StatusSignal<?> supplyVoltage;
-
-        public DeviceStatusInfo(String name, TalonFX talon, int deviceId, String canBus) {
-            this.name = name;
-            this.talon = talon;
-            this.deviceId = deviceId;
-            this.canBus = canBus;
-            this.supplyVoltage = talon.getSupplyVoltage();
-
-            if (this.supplyVoltage != null) {
-                this.supplyVoltage.setUpdateFrequency(100);
-            }
-        }
-    }
 
     private CANStatusLogger() {}
 
@@ -45,59 +16,10 @@ public static synchronized CANStatusLogger getInstance() {
     }
 
     public void registerTalonFX(String name, TalonFX talon, int deviceId, String canBus) {
-        devices.add(new DeviceStatusInfo(name, talon, deviceId, canBus));
+        // Registration placeholder for future CAN status monitoring
     }
 
     public void registerTalonFX(String name, TalonFX talon, CANDeviceId deviceId) {
         registerTalonFX(name, talon, deviceId.getDeviceNumber(), deviceId.getBus());
     }
-
-    public void registerCANcoder(String name, CANcoder cancoder, int deviceId, String canBus) {
-        // This method is kept for compatibility but doesn't need to track CANcoders
-    }
-
-    private BaseStatusSignal[] signals;
-
-    private void initializeSignalArray() {
-        int validSignalCount = 0;
-        for (DeviceStatusInfo device : devices) {
-            if (device.supplyVoltage != null) {
-                validSignalCount++;
-            }
-        }
-
-        if (signals == null || signals.length != validSignalCount) {
-            signals = new BaseStatusSignal[validSignalCount];
-            int index = 0;
-            for (DeviceStatusInfo device : devices) {
-                if (device.supplyVoltage != null) {
-                    signals[index++] = device.supplyVoltage;
-                }
-            }
-        }
-    }
-
-    public void updateCanStatus() {
-        if (signals == null) {
-            initializeSignalArray();
-        }
-        try {
-            BaseStatusSignal.refreshAll(signals);
-        } catch (Exception e) {
-        }
-
-        // Check each device status
-        for (int i = 0; i < devices.size(); i++) {
-            DeviceStatusInfo device = devices.get(i);
-            String deviceName = device.name + "ID" + device.deviceId;
-            boolean isConnected = false;
-
-            if (device.talon != null && device.supplyVoltage != null) {
-                isConnected = (device.supplyVoltage.getStatus() == StatusCode.OK);
-            }
-
-            Logger.recordOutput("CANstatus/" + deviceName, isConnected);
-            SmartDashboard.putBoolean("CAN/" + device.canBus + "/" + deviceName, isConnected);
-        }
-    }
 }