refactor(subsystems): remove all advantagekit abstractions

build.gradle.kts

@@ -155,11 +155,6 @@ tasks {
 
         from({ sourceSets.main.get().allSource })
     }
-
-    register<JavaExec>("replayWatch", JavaExec::class.java) {
-        mainClass = "org.littletonrobotics.junction.ReplayWatch"
-        classpath = sourceSets.main.get().runtimeClasspath
-    }
 }
 
 gversion {

src/main/kotlin/org/frc5183/robot/Robot.kt

@@ -4,17 +4,12 @@ import edu.wpi.first.hal.FRCNetComm
 import edu.wpi.first.hal.HAL
 import edu.wpi.first.math.geometry.Pose2d
 import edu.wpi.first.units.Units
-import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.Threads
 import edu.wpi.first.wpilibj.util.WPILibVersion
 import edu.wpi.first.wpilibj2.command.CommandScheduler
-import org.frc5183.robot.commands.drive.TeleopDriveCommand
 import org.frc5183.robot.constants.*
 import org.frc5183.robot.constants.swerve.SwerveConstants
-import org.frc5183.robot.constants.swerve.SwervePIDConstants
 import org.frc5183.robot.subsystems.drive.SwerveDriveSubsystem
-import org.frc5183.robot.subsystems.drive.io.RealSwerveDriveIO
-import org.frc5183.robot.subsystems.drive.io.SimulatedSwerveDriveIO
 import org.littletonrobotics.junction.LoggedRobot
 import org.littletonrobotics.junction.Logger
 import swervelib.SwerveDrive
@@ -47,20 +42,16 @@ object Robot : LoggedRobot() {
 
         Logger.start()
 
-        val swerve =
-            SwerveDrive(
-                SwerveConstants.YAGSL,
-                SwerveConstants.YAGSL_CONTROLLER_CONFIG,
-                PhysicalConstants.MAX_VELOCITY.`in`(Units.MetersPerSecond),
-                Pose2d.kZero,
-            )
-
         drive =
-            if (RobotBase.isReal()) {
-                SwerveDriveSubsystem(RealSwerveDriveIO(swerve))
-            } else {
-                SwerveDriveSubsystem(SimulatedSwerveDriveIO(swerve))
-            }
+            SwerveDriveSubsystem(
+                SwerveDrive(
+                    SwerveConstants.YAGSL,
+                    SwerveConstants.YAGSL_CONTROLLER_CONFIG,
+                    PhysicalConstants.MAX_VELOCITY.`in`(Units.MetersPerSecond),
+                    Pose2d.kZero,
+                ),
+                null,
+            )
     }
 
     override fun robotPeriodic() {

src/main/kotlin/org/frc5183/robot/constants/Controls.kt

@@ -1,29 +1,22 @@
 package org.frc5183.robot.constants
 
+import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.CommandScheduler
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import org.frc5183.robot.commands.drive.TeleopDriveCommand
 import org.frc5183.robot.subsystems.drive.SwerveDriveSubsystem
+import swervelib.SwerveInputStream
 import kotlin.math.absoluteValue
 
 object Controls {
     val DRIVER_CONTROLLER: CommandXboxController = CommandXboxController(0)
     val OPERATOR_CONTROLLER: CommandXboxController = CommandXboxController(1)
 
-    lateinit var TELEOP_DRIVE_COMMAND: TeleopDriveCommand
+    lateinit var DRIVE_COMMAND: Command
 
     fun registerControls(drive: SwerveDriveSubsystem) {
         CommandScheduler.getInstance().activeButtonLoop.clear()
 
-        TELEOP_DRIVE_COMMAND =
-            TeleopDriveCommand(
-                drive,
-                xInput = { if (DRIVER_CONTROLLER.leftX.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftX },
-                yInput = { if (DRIVER_CONTROLLER.leftY.absoluteValue < .2) 0.0 else DRIVER_CONTROLLER.leftY },
-                rotationInput = { 0.0 },
-                fieldRelative = false,
-            )
-
         drive.defaultCommand = TELEOP_DRIVE_COMMAND
     }
 }

src/main/kotlin/org/frc5183/robot/subsystems/collector/CollectorSubsystem.kt

@@ -1,31 +1,31 @@
 package org.frc5183.robot.subsystems.collector
 
+import com.revrobotics.spark.SparkMax
 import edu.wpi.first.wpilibj2.command.SubsystemBase
-import org.frc5183.robot.subsystems.collector.io.CollectorIO
-import org.frc5183.robot.subsystems.collector.io.CollectorIOInputs
+import org.littletonrobotics.junction.Logger
 
 class CollectorSubsystem(
-    private val io: CollectorIO,
+    val arm: SparkMax,
+    val intake: SparkMax,
 ) : SubsystemBase() {
-    private val ioInputs = CollectorIOInputs()
-
     override fun periodic() {
-        io.updateInputs(ioInputs)
+        Logger.recordOutput("Collector/ArmSpeed", arm.get())
+        Logger.recordOutput("Collector/IntakeSpeed", intake.get())
     }
 
     fun runArm(speed: Double) {
-        io.runArm(speed)
+        arm.set(speed)
     }
 
     fun runIntake(speed: Double) {
-        io.runIntake(speed)
+        intake.set(speed)
     }
 
     fun stopArm() {
-        io.stopArm()
+        arm.stopMotor()
     }
 
     fun stopIntake() {
-        io.stopIntake()
+        intake.stopMotor()
     }
 }